ROBOTS AND METHODS OF CONTROLLING THE SAME
    2.
    发明申请
    ROBOTS AND METHODS OF CONTROLLING THE SAME 有权
    机器人及其控制方法

    公开(公告)号:US20140277741A1

    公开(公告)日:2014-09-18

    申请号:US14217808

    申请日:2014-03-18

    Abstract: A robot may include: a multi-tool module having redundancy, the multi-tool module including a guide tube and a plurality of tools configured to operate while interacting with the guide tube and extended from the guide tube; and/or a controller configured to generate a control signal regarding motion of the multi-tool module in a joint space based on motion instruction information regarding distal ends of the plurality of tools in a task space. The redundancy may reflect that a number of degrees of freedom of the multi-tool module in the joint space is greater than a number of degrees of freedom of the task space. The control signal may be generated using the redundancy.

    Abstract translation: 机器人可以包括:具有冗余的多工具模块,所述多工具模块包括引导管和多个工具,所述多个工具被配置成在与所述引导管相互作用并且从所述引导管延伸的同时进行操作; 和/或控制器,被配置为基于关于任务空间中的多个工具的远端的运动指令信息来生成关于多工具模块在关节空间中的运动的控制信号。 冗余可以反映联合空间中多工具模块的多个自由度大于任务空间的多个自由度。 可以使用冗余来产生控制信号。

    ROBOT AND CONTROL METHOD THEREOF
    3.
    发明申请
    ROBOT AND CONTROL METHOD THEREOF 审中-公开
    机器人及其控制方法

    公开(公告)号:US20130079929A1

    公开(公告)日:2013-03-28

    申请号:US13627667

    申请日:2012-09-26

    CPC classification number: B62D57/032

    Abstract: A robot and method of controlling the robot, the method including setting a target walking motion of the robot using an X-axis displacement, a y-axis displacement, and a z-axis rotation of a robot base, detecting and processing data of a position, a speed and a gradient of the robot base, a z-axis external force exerted on the foot, and a position, an angle, and a speed of each rotation joint using sensors, setting a support state and a coordination system of the robot, processing a state of the robot, performing an adaptive control by generating a target walking trajectory of the robot according to the target walking motion when a supporting leg of the robot is changed, setting a state machine representing a walking trajectory of the robot, and controlling a walking and a balancing of the robot by tracing the state machine that is set.

    Abstract translation: 一种机器人和机器人控制方法,该方法包括使用机器人基座的X轴位移,y轴位移和z轴旋转来设定机器人的目标步行运动,检测和处理机器人的数据 位置,机器人基座的速度和梯度,施加在脚上的z轴外力,以及使用传感器的每个旋转关节的位置,角度和速度,设定支撑状态和协调系统 机器人处理机器人的状态,通过在机器人的支撑腿改变时根据目标步行动作产生机器人的目标步行轨迹进行自适应控制,设定表示机器人的步行轨迹的状态机, 并通过跟踪设置的状态机来控制机器人的行走和平衡。

    WALKING ASSISTANCE DEVICES AND METHODS OF CONTROLLING THE SAME
    5.
    发明申请
    WALKING ASSISTANCE DEVICES AND METHODS OF CONTROLLING THE SAME 审中-公开
    行车辅助装置及其控制方法

    公开(公告)号:US20150094823A1

    公开(公告)日:2015-04-02

    申请号:US14337684

    申请日:2014-07-22

    Abstract: A walking assistance device may include at least one walking assistance unit configured to assist a user in walking; and/or a controller configured to control, based on a walk pattern of the user, the at least one walking assistance unit to produce torque only in at least one assistance period needing walking assistance in a walk cycle. A method of controlling walking assistance may include: calculating a walking assistance time using a difference between a start time and a termination time of an assistance period needing the walking assistance in a walk pattern; and/or assisting a user in walking when the assistance period begins, by producing torque for the walking assistance time.

    Abstract translation: 行走辅助装置可以包括:至少一个行走辅助单元,其构造成帮助用户行走; 和/或控制器,被配置为基于用户的步行模式来控制所述至少一个步行辅助单元,以在仅在步行周期中需要步行辅助的至少一个辅助时段中产生扭矩。 一种控制步行辅助的方法可以包括:使用在行走模式中需要步行辅助的辅助时段的开始时间和终止时间之间的差来计算步行辅助时间; 和/或通过产生用于行走辅助时间的扭矩来帮助用户在辅助时段开始时行走。

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