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公开(公告)号：US07076337B2
公开(公告)日：2006-07-11
申请号：US10637890
申请日：2003-08-08
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method if it is lost in the course of a gesture for which the upper limbs take a major role. The apparatus and the method obtain the pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, the trajectory of the ZMP, the pattern of movement of the trunk and that of the upper limbs. Therefore, a robot can determine the gait of the lower limbs so as to realize a stable walk regardless if the robot is standing upright or walking. Particularly, if the robot is made to gesture, using the upper body half including the upper limbs and the trunk while standing upright, it can determine the gait of the lower limbs so as to make a stable walk in response to such a gait of the upper body half.
摘要翻译： 如果在上肢起主要作用的手势的过程中丢失了行走控制装置和行走控制方法，则机器人姿态的稳定性可以恢复。 该装置和方法通过从脚的运动的任意选择的模式，ZMP的轨迹，躯干的运动模式和从躯体的移动模式获得腰部的移动模式来获得整个身体的行走模式 上肢的。 因此，机器人可以确定下肢的步态，以便实现稳定的行走，无论机器人站立直立还是步行。 特别地，如果使机器人手势，使用包括上肢和躯干在内的上半身直立，则可以确定下肢的步态，以便响应于这样的步态 上半身
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公开(公告)号：US20050177277A1
公开(公告)日：2005-08-11
申请号：US10637890
申请日：2003-08-08
CPC分类号： B62D57/032
摘要： The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method if it is lost in the course of a gesture for which the upper limbs take a major role. The apparatus and the method obtain the pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, the trajectory of the ZMP, the pattern of movement of the trunk and that of the upper limbs. Therefore, a robot can determine the gait of the lower limbs so as to realize a stable walk regardless if the robot is standing upright or walking. Particularly, if the robot is made to gesture, using the upper body half including the upper limbs and the trunk while standing upright, it can determine the gait of the lower limbs so as to make a stable walk in response to such a gait of the upper body half.
摘要翻译： 如果在上肢起主要作用的手势的过程中丢失了行走控制装置和行走控制方法，则机器人姿态的稳定性可以恢复。 该装置和方法通过从脚的运动的任意选择的模式，ZMP的轨迹，躯干的运动模式和从躯体的移动模式获得腰部的移动模式来获得整个身体的行走模式 上肢的。 因此，机器人可以确定下肢的步态，以便实现稳定的行走，无论机器人站立直立还是步行。 特别地，如果使机器人手势，使用包括上肢和躯干在内的上半身直立，则可以确定下肢的步态，以便响应于这样的步态 上半身
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3.发明授权Device and method for controlling operation of legged robot, and robot device 有权用于控制腿式机器人和机器人装置的操作的装置和方法公开(公告)号：US06898485B2
公开(公告)日：2005-05-24
申请号：US10181500
申请日：2001-11-16
IPC分类号： B25J9/18 , B62D57/032 , G06N3/00 , G05B19/00
CPC分类号： G06N3/008 , B62D57/032
摘要： A robot to operate accurately while canceling an affect of pitch-axis, roll-axis, and yaw-axis moments, these moments being applied on the robot body during a leg-moving operation such as walking. First, by calculating a pitch-axis moment and/or a roll-axis moment generated on the robot body at a preset ZMP by set motions of upper limbs, a trunk, and lower limbs, motions of the lower limbs and the trunk for canceling the pitch-axis moment and/or the roll-axis moment are obtained. Then, by calculating a yaw-axis moment generated on the robot body lying at the preset ZMP by the calculated motions of the lower limbs and the trunk, a motion of the upper limbs for canceling the yaw-axis moment is obtained.
摘要翻译： 机器人在消除俯仰轴，滚轴和偏航轴力矩的影响的同时精确地操作，这些力矩在诸如行走的腿部运动操作期间施加在机器人体上。 首先，通过上下肢，躯干和下肢的设定运动，通过计算在机器人身体上以预设的ZMP产生的俯仰轴力矩和/或滚动轴力矩，下肢和躯干的运动用于取消 获得俯仰轴力矩和/或滚动轴力矩。 然后，通过计算通过计算出的下肢和躯干的运动而在机器人身上产生的偏航轴力矩，计算出所述下肢和躯干的运动，得到用于抵消偏航轴力矩的上肢运动。
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公开(公告)号：US06697709B2
公开(公告)日：2004-02-24
申请号：US10196431
申请日：2002-07-15
IPC分类号： G06F1900
CPC分类号： B62D57/032
摘要： The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method if it is lost in the course of a gesture for which the upper limbs take a major role. The apparatus and the method obtain the pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, the trajectory of the ZMP, the pattern of movement of the trunk and that of the upper limbs. Therefore, a robot can determine the gait of the lower limbs so as to realize a stable walk regardless if the robot is standing upright or walking. Particularly, if the robot is made to gesture, using the upper body half including the upper limbs and the trunk while standing upright, it can determine the gait of the lower limbs so as to make a stable walk in response to such a gait of the upper body half.
摘要翻译： 如果在上肢起主要作用的手势的过程中丢失了行走控制装置和行走控制方法，则机器人姿态的稳定性可以恢复。 该装置和方法通过从脚的运动的任意选择的模式，ZMP的轨迹，躯干的运动模式和从躯体的移动模式获得腰部的移动模式来获得整个身体的行走模式 上肢的。 因此，机器人可以确定下肢的步态，以便实现稳定的行走，无论机器人站立直立还是步行。 特别地，如果使机器人手势，使用包括上肢和躯干在内的上半身直立，则可以确定下肢的步态，以便响应于这样的步态 上半身
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公开(公告)号：US07076338B2
公开(公告)日：2006-07-11
申请号：US10919172
申请日：2004-08-16
IPC分类号： G06F19/00
CPC分类号： B62D57/02 , B62D57/032
摘要： A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. Motion natterns of a robot including walking are classified into motion units, each motion unit servins as a unit of motion, and one or more motion units are combined to generate various complex motions. Dynamic motion units are defined on the basis of basic dynamic attitudes, and a desired action sequence can be generated by using the dynamic motion units. This is a basic control method necessary for a robot to autonomously perform a continuous motion, a series of continuous motions, or motions which are chanaed in real-time by commands.
摘要翻译： 通过使用包括每个关节的时间顺序运动和组合基本运动单元的复合运动单元的基本运动单元来产生预定动作序列。 包括步行在内的机器人的运动状态被分为运动单元，每个运动单元作为运动单元进行运动，并且组合一个或多个运动单元以产生各种复杂运动。 动态运动单元是基于基本动态态度来定义的，并且可以通过使用动态运动单元来产生期望的动作序列。 这是机器人自主执行连续运动，一系列连续运动或运动的基本控制方法，这些运动通过命令实时地实现。
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公开(公告)号：US06961640B2
公开(公告)日：2005-11-01
申请号：US10181307
申请日：2001-11-16
IPC分类号： B25J9/22 , B62D57/02 , B62D57/032 , G06F19/00
CPC分类号： B62D57/02 , B62D57/032
摘要： A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. Motion patterns of a robot including walking are classified into motion units, each motion unit serving as a unit of motion, and one or more motion units are combined to generate various complex motions. Dynamic motion units are defined on the basis of basic dynamic attitudes, and a desired action sequence can be generated by using the dynamic motion units. This is a basic control method necessary for a robot to autonomously perform a continuous motion, a series of continuous motions, or motions which are changed in real-time by commands.
摘要翻译： 通过使用包括每个关节的时间顺序运动和组合基本运动单元的复合运动单元的基本运动单元来产生预定动作序列。 包括步行的机器人的运动图案被分为运动单元，每个运动单元用作运动单元，并且组合一个或多个运动单元以产生各种复杂运动。 动态运动单元是基于基本动态态度来定义的，并且可以通过使用动态运动单元来产生期望的动作序列。 这是机器人自主执行通过命令实时改变的连续运动，一系列连续运动或运动所必需的基本控制方法。
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7.发明授权Motion controller and motion control method for legged walking robot, and robot apparatus 有权腿式步行机器人运动控制器及运动控制方法及机器人装置公开(公告)号：US07031806B2
公开(公告)日：2006-04-18
申请号：US10935607
申请日：2004-09-07
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , B62D57/032
摘要： A robot operates accurately while canceling an affect of pitch-axis, rollaxis, and yaw-axis moments, these moments being applied on the robot body during a leg-moving operation such as walking. By calculating a pitch-axis moment and/or a roll-axis moment generated on the robot body at a preset ZMP by set motions of upper limbs, a trunk, and lower limbs, motions of the lower limbs and the trunk for canceling the pitch-axis moment and/or the roll-axis moment: are obtained. Then, by calculating a yaw-axis moment generated on the robot body lying at the preset ZMP by the calculated motions of the lower limbs and the trunk, a motion of the upper limbs for canceling the yaw-axis moment is obtained.
摘要翻译： 机器人精确地操作，同时消除俯仰轴，滚动轴和偏航轴力矩的影响，这些力矩在诸如行走的腿部运动操作期间施加在机器人体上。 通过计算通过上肢，躯干和下肢的设定运动，预设ZMP在机器人身体上产生的俯仰轴力矩和/或滚动轴力矩，下肢和躯干的运动用于消除俯仰 得到轴向力矩和/或滚动轴力矩。 然后，通过计算通过计算出的下肢和躯干的运动而在机器人身上产生的偏航轴力矩，计算出所述下肢和躯干的运动，得到用于抵消偏航轴力矩的上肢运动。
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公开(公告)号：US20050203667A1
公开(公告)日：2005-09-15
申请号：US11126774
申请日：2005-05-11
CPC分类号： B62D57/032
摘要： The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method according to the invention if it is lost in the course of a gesture for which the upper limbs take a major role. The apparatus and the method obtain the pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, the trajectory of the ZMP, the pattern of movement of the trunk and that of the upper limbs. Therefore, according to the invention, a robot can determine the gait of the lower limbs so as to realize a stable walk regardless if the robot is standing upright or walking. Particularly, if the robot is made to gesture, using the upper body half including the upper limbs and the trunk while standing upright, it can determine the gait of the lower limbs so as to make a stable walk in response to such a gait of the upper body half.
摘要翻译： 如果在上肢起主要作用的手势的过程中丢失了根据本发明的行走控制装置和行走控制方法，则可以恢复机器人姿态的稳定性。 该装置和方法通过从脚的运动的任意选择的模式，ZMP的轨迹，躯干的运动模式和从躯体的移动模式获得腰部的移动模式来获得整个身体的行走模式 上肢的。 因此，根据本发明，机器人可以确定下肢的步态，以便实现稳定的行走，而不管机器人站立直立或行走。 特别地，如果使机器人手势，使用包括上肢和躯干在内的上半身直立，则可以确定下肢的步态，以便响应于这样的步态 上半身
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9.发明授权Legged mobile robot and method and apparatus for controlling the operation thereof 有权有腿的移动机器人及其操作的控制方法和装置公开(公告)号：US06832132B2
公开(公告)日：2004-12-14
申请号：US10327266
申请日：2002-12-20
IPC分类号： G06F1900
CPC分类号： B62D57/032
摘要： A legged mobile robot is adaptively controlled in its attitude against variable external forces to continue the operation without inversion. When the legged mobile robot kicks an object having a certain mass, such as a ball, the robot is to be prevented from being fallen down by the reactive force from the object. Even if the mass or the repulsion coefficient of the object kicked is unknown, the operation of kicking the object at a sufficiently low speed is carried out at the outset to predict the reactive force produced on actual kicking in order to predict the reactive force produced on actual kicking. The result is that the stability in attitude can be maintained on kicking at an arbitrary speed. The legged mobile robot is able to take part as one of the players in athletic games, such as soccer games, in which each player performs his or her role as the or she is subjected to an external force.
摘要翻译： 腿式移动机器人可以自适应地控制其对可变外力的姿态，以继续操作而不反转。 当有腿的移动机器人踢出具有一定质量的物体（例如球）时，机器人将被防止来自物体的反作用力下降。 即使被踢的物体的质量或排斥系数是未知的，在一开始就进行以足够低的速度踢物体的操作，以预测在实际踢踢时产生的反作用力，以预测在 实际踢。 结果是，以任意的速度踢出态度的稳定性。 有腿的移动机器人能够作为运动游戏中的玩家之一，例如足球比赛，每个玩家在受到外力的时候执行他或她的角色。
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公开(公告)号：US07113849B2
公开(公告)日：2006-09-26
申请号：US11126774
申请日：2005-05-11
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method according to the invention if it is lost in the course of a gesture for which the upper limbs take a major role. The apparatus and the method obtain the pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, the trajectory of the ZMP, the pattern of movement of the trunk and that of the upper limbs. Therefore, according to the invention, a robot can determine the gait of the lower limbs so as to realize a stable walk regardless if the robot is standing upright or walking. Particularly, if the robot is made to gesture, using the upper body half including the upper limbs and the trunk while standing upright, it can determine the gait of the lower limbs so as to make a stable walk in response to such a gait of the upper body half.
摘要翻译： 如果在上肢起主要作用的手势的过程中丢失了根据本发明的行走控制装置和行走控制方法，则可以恢复机器人姿态的稳定性。 该装置和方法通过从脚的运动的任意选择的模式，ZMP的轨迹，躯干的运动模式和从躯体的移动模式获得腰部的移动模式来获得整个身体的行走模式 上肢的。 因此，根据本发明，机器人可以确定下肢的步态，以便实现稳定的行走，而不管机器人站立直立或行走。 特别地，如果使机器人手势，使用包括上肢和躯干在内的上半身直立，则可以确定下肢的步态，以便响应于这样的步态 上半身
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