公开(公告)号：US20090099689A1

公开(公告)日：2009-04-16

申请号：US11719163

申请日：2005-09-14

申请人： Toru Takenaka ,  Susumu Miyazaki ,  Masakazu Kawai ,  Masanori Takeda

发明人： Toru Takenaka ,  Susumu Miyazaki ,  Masakazu Kawai ,  Masanori Takeda

IPC分类号： B25J5/00 ,  B25J13/00

CPC分类号： B62D57/032

摘要： A legged mobile robot and a control program for the robot cancel a spin force, which is generated by motions of a lower body (242), a leg (2) or the like, by a twisting motion of an upper body (241) relative to the lower body (242) and a swinging motion of an arm (80).

摘要翻译： 腿式移动机器人和用于机器人的控制程序通过上身（241）相对的扭转运动来消除由下体（242），腿（2）等的运动产生的旋转力 到下体（242）和臂（80）的摆动运动。

公开(公告)号：US07801643B2

公开(公告)日：2010-09-21

申请号：US11719163

申请日：2005-09-14

申请人： Toru Takenaka ,  Susumu Miyazaki ,  Masakazu Kawai ,  Masanori Takeda

发明人： Toru Takenaka ,  Susumu Miyazaki ,  Masakazu Kawai ,  Masanori Takeda

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： A legged mobile robot and a control program for the robot cancel a spin force, which is generated by motions of a lower body (242), a leg (2) or the like, by a twisting motion of an upper body (241) relative to the lower body (242) and a swinging motion of an arm (80).

摘要翻译： 腿式移动机器人和用于机器人的控制程序通过上身（241）相对的扭转运动来消除由下体（242），腿（2）等的运动产生的旋转力 到下体（242）和臂（80）的摆动运动。

公开(公告)号：US20110264264A1

公开(公告)日：2011-10-27

申请号：US13086872

申请日：2011-04-14

申请人： Shinya Shirokura ,  Hiroyuki Kaneko ,  Chiaki Tanaka ,  Masakazu Kawai

发明人： Shinya Shirokura ,  Hiroyuki Kaneko ,  Chiaki Tanaka ,  Masakazu Kawai

IPC分类号： G06F19/00

CPC分类号： B62D57/032 ,  B25J19/0008 ,  G05B2219/40264

摘要： A control device for a bipedal mobile robot generates a desired motion of a bipedal mobile robot. When causing the robot to perform a one-leg hopping operation, a desired motion of the robot is generated such that the proximal end portion of a free leg of the robot is positioned at a relatively higher level than the proximal end portion of a supporting leg thereof in the state wherein the supporting leg has landed on a floor after leaving from the floor and such that the horizontal distance between the total center-of-gravity point of the robot and the proximal end portion of the supporting leg in the aforesaid state is shorter than the horizontal distance therebetween in a state wherein the robot is standing in an upright posture.

摘要翻译： 用于双足移动机器人的控制装置产生双足移动机器人的所需运动。 当使机器人执行单腿跳跃操作时，产生机器人的期望运动，使得机器人的自由腿的近端部分位于比支撑腿的近端部分更高的水平 在支撑腿从地板离开之后落在地板上并使得机器人的总重心点与上述状态下的支撑腿的基端部之间的水平距离为 在机器人以直立姿态站立的状态下比其间的水平距离短。

公开(公告)号：US07017395B2

公开(公告)日：2006-03-28

申请号：US10502727

申请日：2003-01-22

申请人： Masakazu Kawai ,  Yasushi Ikeuchi

发明人： Masakazu Kawai ,  Yasushi Ikeuchi

IPC分类号： G01M1/00

CPC分类号： B25J13/085 ,  B25J13/088 ,  B62D57/032

摘要： It is determined whether the motion state of legs 2, 2 is a one-leg supporting state or a two-leg supporting state, and a total floor reaction force is estimated based on a motion equation of the center of gravity of a bipedal movable body 1. If the motion state of legs 2, 2 is the one-leg supporting state, the estimated value of the total floor reaction force is used as an estimated value of the floor reaction force on the leg 2 which is landed. When the motion state changes to the two-leg supporting state, a vertical component of the floor reaction force on the rear leg is estimated from the MP height of the front leg based on a predetermined correlation between the MP height of the front leg and the vertical component of the floor reaction force on the leg.

摘要翻译： 确定腿部2,2的运动状态是单腿支撑状态还是双腿支撑状态，并且基于双足可移动体的重心的运动方程来估计总楼面反作用力 1。 如果脚2,2的运动状态是单腿支撑状态，则将总楼面反作用力的估计值用作落地的腿部2上的地板反作用力的估计值。 当运动状态改变为双腿支撑状态时，基于前腿的MP高度和前腿的MP高度之间的预定相关性，从前腿的MP高度估计后腿上的地板反作用力的垂直分量 地板反作用力的垂直分量在腿上。

公开(公告)号：US20050102111A1

公开(公告)日：2005-05-12

申请号：US10655460

申请日：2003-09-05

申请人： Behzad Dariush ,  Yasushi Ikeuchi ,  Masakazu Kawai

发明人： Behzad Dariush ,  Yasushi Ikeuchi ,  Masakazu Kawai

IPC分类号： B25J19/00 ,  A61H1/00 ,  A61H1/02 ,  B25J5/00 ,  B25J9/00 ,  B62D57/032 ,  G06F19/00 ,  G01L5/00

CPC分类号： A61H1/00 ,  A61H2001/0211 ,  A63B21/00181 ,  B25J9/0006 ,  B62D57/032

摘要： A method for obtaining an assist torque to be applied to a human joint, in a human assist system for applying an assist torque to the human joint to reduce load of muscles, and the human assist system are provided. The method comprises the step of obtaining a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment. The method further comprises the step of obtaining an assist torque to be applied to the joint to compensate for the moment due to gravity, acting on the joint. The human assist system comprises a motor for delivering an assist torque to a joint and a motor driver for driving control of the motor. The system further comprises a controller for determining a desired value of an assist torque, comprising a processor and a memory. The controller is configured to obtain a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment and then to obtain an assist torque to be delivered to the joint to compensate for the moment due to gravitational acceleration at the joint. The method provides a natural subdivision between the voluntary actuators which are responsible for forward progression of motion and the assist actuators which are responsible for preserving static equilibrium. This subdivision may mitigate the interference between voluntary control and artificial control.

摘要翻译： 提供一种用于获得施加于人体关节的辅助扭矩的方法，在用于向人体关节施加辅助扭矩以减轻肌肉负荷的人辅助系统和人体辅助系统中的方法。 该方法包括基于每个段上的力和力矩平衡的方程，由于重力而获得作用在每个人体节段的关节上的力矩的步骤。 该方法还包括以下步骤：获得施加到接头上的辅助扭矩，以补偿作用在接头上的重力作用的力矩。 人体辅助系统包括用于向关节传递辅助扭矩的马达和用于驱动马达的控制的马达驱动器。 该系统还包括用于确定辅助扭矩的期望值的控制器，包括处理器和存储器。 控制器被配置为基于重力作用于每个人节的关节上的力矩，基于每个段上的力和力矩平衡方程，然后获得要传递到关节的辅助扭矩以补偿力矩 由于接头处的重力加速度。 该方法提供自主执行器之间的自然细分，负责运动的正向运动和负责保持静态平衡的辅助致动器。 这种细分可以减轻自愿控制和人工控制之间的干扰。

公开(公告)号：US07860607B2

公开(公告)日：2010-12-28

申请号：US10564073

申请日：2004-06-29

申请人： Masakazu Kawai ,  Yasushi Ikeuchi

发明人： Masakazu Kawai ,  Yasushi Ikeuchi

IPC分类号： G06F19/00 ,  A61B5/103

CPC分类号： B62D57/02 ,  A61B5/1038 ,  A61B5/1071 ,  A61B5/112 ,  A61B5/1121 ,  A61B5/4528 ,  A61H3/00 ,  B62D57/032

摘要： The joint rotational angles of joints 9, 11 and 13 of each leg 2 of a bipedal walking body 1 are detected to grasp the positions/postures of the corresponding rigid bodies 10, 12 and 14 of each leg 2 on a leg plane passing the joints 9, 11 and 13 of each leg 2. At the same time, the acceleration of a reference point (the origin of a body coordinate system BC) of the bipedal walking body 1, the floor reaction force acting on each leg 2 and the position of an acting point thereof are grasped in terms of three-dimensional amounts. Two-dimensional amounts obtained by projecting the acceleration, the floor reaction force and the position of the acting point thereof, and the positions/postures of the corresponding rigid bodies of each 2 onto the leg plane are used to estimate the moments acting on joints of each leg on the basis of an inverse dynamic model. The stability of the estimated values of joint moments can be improved while securing the accuracy of estimating the joint moments in the bending and stretching directions of each leg, considering three-dimensional motions of the bipedal walking body.

摘要翻译： 检测双足步行体1的每个腿2的关节9,11和13的关节旋转角度，以便在通过关节的腿平面上抓住每个腿2的相应刚体10,12和14的位置/姿势 同时，双足步行体1的参考点（身体坐标系BC的原点）的加速度，作用在每个腿2上的地板反作用力和位置 其作用点的三维量被掌握。 使用通过将加速度，地板反作用力及其作用点的位置以及每个2的对应刚体的位置/姿势投影到腿平面上而获得的二维量来估计作用在腿部的关节上的力矩 每一条腿都基于一个逆动态模型。 考虑到双足步行体的三维运动，可以确保关节力矩的估计值的稳定性，同时确保估计每个腿的弯曲和拉伸方向的关节力矩的精度。

公开(公告)号：US20080309277A1

公开(公告)日：2008-12-18

申请号：US12213238

申请日：2008-06-17

申请人： Tsukasa Sugino ,  Masakazu Kawai ,  Kenro Udono

发明人： Tsukasa Sugino ,  Masakazu Kawai ,  Kenro Udono

IPC分类号： G05B19/18 ,  G05B9/02

CPC分类号： B25J19/005

摘要： In a system for driving a mobile robot having a body, a plurality of legs each comprising a thigh link and a shank link, a first electric motor and a second motor for driving the thigh link in a forwarding direction, a power line connecting a power source to the first and the second motors, and a motor driver that supplies drive voltage to the first and second motors, a booster that boosts the drive voltage to be supplied to the first and second motors is provided such that the booster and the motor driver are installed in the thigh link where the first and second motors are installed, thereby enabling to satisfy both the low-voltage demand and high-voltage demand and to supply drive voltage to the motors effectively.

摘要翻译： 在用于驱动具有主体的移动机器人的系统中，包括大腿连杆和小腿连杆的多个腿部，第一电动机和用于沿前进方向驱动大腿连杆的第二电动机，连接动力的动力线 源极到第一和第二电动机;以及电动机驱动器，其向第一和第二电动机提供驱动电压，升压器将提供给第一和第二电动机的驱动电压升高，使得升压器和电动机驱动器 安装在安装第一和第二电动机的大腿连接处，从而能够满足低电压需求和高电压需求，并且有效地向电动机提供驱动电压。

公开(公告)号：US20060079998A1

公开(公告)日：2006-04-13

申请号：US11167207

申请日：2005-06-28

申请人： Taizou Yoshikawa ,  Masakazu Kawai

发明人： Taizou Yoshikawa ,  Masakazu Kawai

IPC分类号： G06F19/00

CPC分类号： B25J19/021 ,  B25J19/026 ,  G08B13/19619 ,  G08B13/19647

摘要： A security robot that boards a mobile unit to protect the mobile unit from theft is provided. The robot has an internal sensor such as an acceleration sensor installed at the robot and generating an output indicative of condition inside the robot, an external sensor such as CCD cameras installed at the robot and generating an output indicative of condition outside the robot, an abnormality degree discriminator discriminating a degree of abnormality that the mobile unit is experiencing based on information obtained from the outputs of the internal sensor and the external sensor, and an action controller taking preventive action in response to the discriminated degree of abnormality. With this, it becomes possible to discriminate the degree of abnormal situations and act accordingly in response.

摘要翻译： 提供了一种用于保护移动单元以免被盗窃的移动单元的安全机器人。 机器人具有安装在机器人上的内部传感器，例如安装在机器人上的加速度传感器，并产生指示机器人内部状况的输出，安装在机器人处的CCD摄像机等外部传感器，并产生指示机器人外部状态的输出，异常 根据从内部传感器和外部传感器的输出获得的信息来区分移动单元正在经历的异常程度的判别器，以及响应于所识别的异常程度采取预防动作的动作控制器。 由此，可以区别异常情况的程度并相应地作出响应。

公开(公告)号：US06915230B2

公开(公告)日：2005-07-05

申请号：US10481858

申请日：2002-06-27

申请人： Masakazu Kawai ,  Yasushi Ikeuchi ,  Hisashi Katoh

发明人： Masakazu Kawai ,  Yasushi Ikeuchi ,  Hisashi Katoh

IPC分类号： G01L1/00 ,  A61B5/024 ,  A61B5/103 ,  A61F2/72 ,  A61H3/00 ,  B25J5/00 ,  B25J9/00 ,  G06F15/00

CPC分类号： B62D57/032 ,  A61B5/024 ,  A61B5/1038 ,  A61B5/1116 ,  A61B5/4528 ,  A61F2/72 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  B25J9/0006

摘要： A method is presented for determination of single stance or double stance state of leg bodies of a bipedal mobile body (BMB). In a single stance state, a floor reaction force acting on a leg body touching the ground is estimated based on an equation of motion for the center of gravity (GO) of a BMB. In a double stance state, floor reaction forces, Fr and Ff respectively, acting on the leg bodies are estimated based on an equation of motion for GO of a BMB and an expression of relation between components of Fr and Ff on the respective leg bodies and positions of ankle portions of the leg bodies relative to the GO of the BMB. Further, based on an inverse dynamics model, knee and hip joint moments of each leg body are estimated using floor reaction force values.

摘要翻译： 提出了一种用于确定双足移动体（BMB）的腿体的单一姿势或双姿势状态的方法。 在单一姿势状态下，基于BMB的重心（GO）的运动方程来估计作用在接触地面的腿身上的地板反作用力。 在双重状态下，基于BMB的GO的运动方程和各个腿体上的Fr和Ff的分量之间的关系的表达来估计作用在腿部身体上的地面反作用力Fr和Ff，以及 腿体的踝部相对于BMB的GO的位置。 此外，基于反动力学模型，使用地板反作用力值估计每个腿体的膝关节和髋关节力矩。

公开(公告)号：US07643903B2

公开(公告)日：2010-01-05

申请号：US10553278

申请日：2004-03-29

申请人： Masakazu Kawai

发明人： Masakazu Kawai

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： While a biped walking mobile body is in a motion, such as level-ground walking, the position of the center of gravity (G0) of the biped walking mobile body, the position of an ankle joint (12) of each leg (2), and the position of a metatarsophalangeal joint (13a) of a foot (13) are successively grasped. The horizontal position of any one of the center of gravity (G0), the ankle joint (12), and the metatarsophalangeal joint (13a) is estimated as the horizontal position of a floor reaction force acting point on the basis of the combination of the contact or no contact with the ground at a spot directly below the metatarsophalangeal joint 13a of the foot 13 and a spot directly below the ankle joint 12, which is detected by ground contact sensors 51f and 51r, respectively, provided on the sole of the foot 13. The vertical position of the floor reaction force acting point is estimated on the basis of the vertical distance from the ankle joint (12) to a ground contact surface.

摘要翻译： 当双足步行移动体处于诸如水平地面行走的运动中时，两足动物体的重心位置（G0），每个腿部（2）的踝关节（12）的位置， ，并且连续地掌握脚（13）的跖趾关节（13a）的位置。 重心（G0），踝关节（12）和跖趾关节（13a）中的任何一个的水平位置被估计为基于地面反作用力作用点的水平位置， 在脚13的跖趾关节13a正下方的位置接触或不接触地面，以及分别由设置在脚底部的地面接触传感器51f和51r检测到的踝关节12正下方的点 基于从踝关节（12）到地面接触面的垂直距离来估计地板反作用力作用点的垂直位置。