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1. 发明授权

US07860611B2 Control device for legged mobile robot 有权
标题翻译：腿式移动机器人控制装置
公开(公告)号：US07860611B2
公开(公告)日：2010-12-28
申请号：US12603116
申请日：2009-10-21
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00 , B62D57/032 , B62D57/00 , B62D57/02 , B62D57/024 , B25J13/00 , B25J5/00 , G05B13/02
CPC分类号： B62D57/032
摘要： On the basis of at least a difference between a desired state amount related to a posture of a robot 1 about a vertical axis or a floor surface normal line axis and an actual state amount of the robot 1 and a permissible range of a restriction object amount, namely, a vertical component of a floor reaction force moment or a component of the floor reaction force moment in a floor surface normal line direction to be applied to the robot 1, instantaneous values of a desired motion and a desired floor reaction force are determined such that a difference between a floor reaction force moment balancing with the desired motion on a dynamic model and a floor reaction force moment of the desired floor reaction force approximates the aforesaid difference to zero, while having the restriction object amount, which is associated with the desired floor reaction force, fall within the permissible range.
摘要翻译：基于与机器人1的纵轴或地面法线方向的姿势有关的期望状态量与机器人1的实际状态量之间的差异以及限制对象量的容许范围即，施加到机器人1的地板反射力矩或地板反射力矩的分量的垂直分量，期望运动的瞬时值和期望的地面反作用力被确定使得在动态模型上的平衡反作用力平衡与期望的运动之间的差异与期望的地面反作用力的地板反力力矩之间的差值近似于上述差为零，同时具有与所需的地面反作用力，落在容许范围内。

2. 发明授权

US07487011B2 Gait generation device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的步态生成装置
公开(公告)号：US07487011B2
公开(公告)日：2009-02-03
申请号：US10499936
申请日：2002-12-26
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G05B19/04 , G05B19/18 , G06F19/00
CPC分类号： B62D57/032 , B62D57/02
摘要： An allowable ranges of a horizontal component of the translation floor reaction or a floor-surface-parallel component of the translation floor reaction force of a legged mobile robot 1 or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot 1 (hereinafter referred to as a friction force component) is set, and a provisional movement of the robot 1 is determined so as to satisfy a predetermined dynamical equilibrium condition. When the friction force component determined by this provisional movement departs from the allowable range, a rate of change of an angular momentum around the center of gravity of the robot 1 is changed from the provisional movement so as to satisfy the dynamical equilibrium condition while limiting the friction force component within the allowable range to thereby determine a movement of a desired gait. Consequently, not only walking of the robot 1 but also running thereof can be performed properly, and a gait that does not cause slippage is generated.
摘要翻译：平移台面反应的水平分量的允许范围或有腿可移动机器人1的平移平面反作用力的地面平行部分或总重心加速度或地板表面的水平分量设定机器人1的全重心加速度的平行分量（以下称为摩擦力分量），并且确定机器人1的临时运动以满足预定的动态平衡条件。当由该临时移动确定的摩擦力分量偏离允许范围时，围绕机器人1的重心的角动量的变化率从临时运动改变以满足动态平衡条件，同时限制摩擦力分量在允许范围内，从而确定期望步态的移动。因此，不仅可以适当地进行机器人1的行走，还可以进行行走，并且产生不产生滑动的步态。

3. 发明申请

US20080147237A1 Gait Generator for Mobile Robot 有权
标题翻译：移动机器人步态发生器
公开(公告)号：US20080147237A1
公开(公告)日：2008-06-19
申请号：US10597653
申请日：2005-02-16
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G05B19/18 , B25J5/00 , B25J13/04
CPC分类号： B62D57/032
摘要： When gait parameters for specifying a gait to be generated of a mobile robot (1) are determined, the values of the priority parameters of the gait parameters are updated from the values of the priority gait parameters of predetermined base gait parameters such that the priority parameters approach and reach the original required values step by step. For every update, out of non-priority parameters other than the priority ones, the parameters to be sought are determined by seeking so that the parameters may satisfy the gait boundary condition on the dynamic model of the robot (1). Thus, the new gait parameters including the determined parameters and the updated priority parameters are determined. Lastly, the gate of the mobile robot (1) is generated using dynamic model and the new gait parameters determined when the priority parameters are made to agree with the requested value.
摘要翻译：当确定用于指定要移动机器人（1）生成的步态的步态参数时，根据预定基准步态参数的优先步态参数的值更新步态参数的优先级参数的值，使得优先级参数并逐步达到原始要求的值。对于每个更新，除了优先级以外的非优先级参数，通过寻求来确定要寻求的参数，使得参数可以满足机器人（1）的动态模型上的步态边界条件。因此，确定包括确定的参数和更新的优先级参数的新步态参数。最后，使用动态模型生成移动机器人（1）的门，并且当使优先级参数与所请求的值一致时确定新的步态参数。

4. 发明授权

US07319918B2 Gait generation device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的步态生成装置
公开(公告)号：US07319918B2
公开(公告)日：2008-01-15
申请号：US10499935
申请日：2002-12-27
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A gait generation device for setting a translation floor reaction force's horizontal component (component concerning a friction force) applied to a robot 1, a limitation-target quantity, such as a ZMP, and an allowable range, for determining at least a provisional instantaneous value of a desired floor reaction force and a provisional instantaneous value for a desired movement of the robot 1, that receives at least the provisional instantaneous value for the desired movement and determines a model floor reaction force instantaneous value with the aid of a dynamics model. Based on the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of the desired floor reaction force or the allowable range of the limitation-target quantity, the provisional instantaneous value for the desired movement is corrected so that the limitation-target quantity falls within the allowable range and a dynamical equilibrium condition on the dynamics model is satisfied, thereby determining a desired instantaneous value.
摘要翻译：一种用于设置平移反作用力的应用于机器人1的水平分量（关于摩擦力的分量）的步态生成装置，诸如ZMP的限制目标量和允许范围，用于至少确定临时瞬时值具有期望的地面反作用力和用于机器人1的期望运动的临时瞬时值，其至少接收用于期望运动的临时瞬时值，并且借助于动力学模型来确定模型楼层反作用力瞬时值。基于模型楼层反作用力瞬时值与期望地板反作用力的临时瞬时值或限制目标量的允许范围之间的差异，校正期望移动的临时瞬时值，使得限制目标数量在允许范围内，动态模型的动力学平衡条件得到满足，从而确定所需的瞬时值。

5. 发明授权

US07319917B2 Gait generation device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的步态生成装置
公开(公告)号：US07319917B2
公开(公告)日：2008-01-15
申请号：US10499516
申请日：2002-12-26
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B62D57/02
摘要： A gait generation device for generating a desired gait which includes floating periods in which all the legs 2, 2 of a legged mobile robot 1 float in the air and landing periods in which at least one leg 2 is in contact with a floor which appear alternately generates the desired gait in such a manner that, at least when shifting from the floating period to the landing period, the velocity of an end portion 22 of a landing leg with respect to the floor and the acceleration thereof with respect to the floor is substantially 0 at the instant of landing. After both the velocity of the end portion of the leg with respect to the floor and the acceleration thereof with respect to the floor are determined to be substantially 0, a movement of the body of the robot with the desired gait is determined in such a manner that the horizontal component of a moment produced about the desired ZMP by the resultant force of gravity and an inertial force applied to the robot 1 is substantially 0. This eliminates the landing impact.
摘要翻译：一种用于产生期望的步态的步态生成装置，其包括浮动周期，其中腿式可移动机器人1的所有腿部2,2在空中漂浮，并且着陆期间中至少一个腿部2与交替出现的地板接触产生期望的步态，使得至少在从浮动周期转移到着陆阶段时，着陆腿相对于地板的端部22的速度和相对于地板的加速度基本上是 0在登陆的时刻。在腿部相对于地面的端部的速度和相对于地板的加速度被确定为大致为零之后，以这种方式确定机器人的主体以期望的步态的移动通过合成重力和施加到机器人1的惯性力围绕期望的ZMP产生的力矩的水平分量基本为0.这消除了着陆冲击。

6. 发明申请

US20070168080A1 Gait generating system for mobile robot 有权
标题翻译：移动机器人步态生成系统
公开(公告)号：US20070168080A1
公开(公告)日：2007-07-19
申请号：US10597732
申请日：2005-02-16
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A gait generating system for a mobile robot has n dynamic models and determines a first gait parameter defining a desired gait such that the boundary condition of a gait on a first dynamic model is satisfied. The first gait parameter is corrected step by step by using an m-th dynamic model (m: integer satisfying 2≦m≦n), which is each dynamic model other than the first dynamic model, and an m-th gait parameter that satisfies the boundary condition on the m-th dynamic model is determined. The m-th gait parameter is determined by correcting an object of an (m−1)th gait parameter to be corrected on the basis of the degree of deviation of the gait generated on the m-th dynamic model by using the (m−1)th gait parameter from the boundary condition. A final determined n-th gait parameter and an n-th dynamic model are used to generate a desired gait.
摘要翻译：用于移动机器人的步态生成系统具有n个动态模型，并且确定定义期望步态的第一步态参数，使得满足第一动态模型上的步态的边界条件。第一个步态参数通过使用第m个动态模型（m：满足2 <= m <= n）的整数，其是除第一动态模型之外的每个动态模型，以及第m步态参数确定满足第m个动态模型的边界条件。通过使用（m-）步态参数，通过基于在第m动态模型上产生的步态的偏离程度来校正要校正的第（m-1）步态参数的对象来确定第m步态参数， 1）步态参数从边界条件。使用最终确定的第n步态参数和第n动态模型来产生期望的步态。

7. 发明申请

US20070126387A1 Control device for mobile body 有权
标题翻译：移动体控制装置
公开(公告)号：US20070126387A1
公开(公告)日：2007-06-07
申请号：US10596051
申请日：2004-11-29
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G05B19/04
CPC分类号： B25J13/085 , B62D57/032
摘要： A control system for a mobile robot is provided with a base body 53 and a plurality of link mechanisms 52 and 54 connected thereto. A sensor 90 for detecting external forces is provided on a predetermined portion (knee) between the base body 53 and a distal portion (foot) 58 of the link mechanism (leg) 52. In a motion posture in which a robot 61 has a predetermined portion (knee) in contact with the ground, the displacement of at least a joint 55 between the base body 53 and the predetermined portion (knee) is controlled so as to bring an external force (floor reaction force) detected by the sensor 90 close to a desired external force. In a state wherein a portion other than a distal portion of a leg or arm of the robot 61 is in contact with a floor or the like and subject to an external force, the external force acting on the portion other than the distal portion of the leg or arm is properly controlled, thereby maintaining a stable posture of the robot 61.
摘要翻译：用于移动机器人的控制系统设置有基体53和与其连接的多个连杆机构52和54。用于检测外力的传感器90设置在基体53和连杆机构（支腿）52的远端部分（脚）58之间的预定部分（膝盖）上。在机器人61具有与地面接触的预定部分（膝盖）的运动姿势中，控制基体53与预定部分（膝盖）之间的至少一个接合部55的位移，以使外部由传感器90检测到的力（地板反作用力）接近期望的外力。在机器人61的腿部或臂部的远端部以外的部分与地板等接触而受到外力的状态下，作用于除了远端部以外的部分的外力腿或臂被适当地控制，从而保持机器人61的稳定的姿势。

8. 发明申请

US20070061038A1 GAIT GENERATING DEVICE FOR MOVING ROBOT 有权
标题翻译：用于移动机器人的GAIT生成装置
公开(公告)号：US20070061038A1
公开(公告)日：2007-03-15
申请号：US10597933
申请日：2005-02-28
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： To generate a desired gait of a robot 1 such that a permissible range of a predetermined component (a translational floor reaction force horizontal component or the like) of a floor reaction force acting on the mobile robot 1, a gait generating system for a mobile robot creates a provisional motion, which indicates a provisional value of a desired motion, and repeats processing for correcting the provisional motion by using a first dynamic model and a second dynamic model having a dynamic accuracy that is higher than that of the first dynamic model until a predetermined condition is satisfied, thereby obtaining a final corrected motion as the desired motion. Relative to the provisional motion and a corrected motion at each correction, a difference between a predetermined component of a floor reaction force produced on the second dynamic model and a predetermined component of a floor reaction force produced on the first dynamic model is determined as a floor reaction force error, and a change amount of the error at each correction is also determined. A corrected motion when the change amount has converged to zero is determined as the desired motion.
摘要翻译：为了产生机器人1的所需步态，使得作用在移动机器人1上的地板反作用力的预定部件（平移地板反作用力水平部件等）的允许范围，用于移动机器人的步态生成系统创建指示期望运动的临时值的临时运动，并且通过使用具有比第一动态模型的动态精度更高的动态精度的第一动态模型和第二动态模型来重复用于校正临时运动的处理，直到满足预定条件，从而获得作为期望运动的最终校正运动。相对于临时运动和在每次校正处的校正运动，将在第二动态模型上产生的地面反作用力的预定分量与在第一动态模型上产生的地板反作用力的预定分量之间的差确定为底板反作用力误差和每次校正时的误差的变化量也被确定。当变化量已经收敛到零时的校正运动被确定为期望的运动。

9. 发明申请

US20070013506A1 Control device for mobile body 有权
标题翻译：移动体控制装置
公开(公告)号：US20070013506A1
公开(公告)日：2007-01-18
申请号：US10596048
申请日：2004-10-29
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G08B23/00
CPC分类号： B25J13/085 , B62D57/032
摘要： Ground contact portions are categorized in a tree structure manner such that all of the ground contact portions of a mobile body (mobile robot) equipped with three or more ground contact portions become leaf nodes and that an intermediate node exists between the leaf nodes and a root node having all the leaf nodes as its descendant nodes. On each node (a C-th node) having child nodes, the correction amounts of the desired relative heights of the ground contact portions of the C-th node are determined such that at least the difference between an actual posture inclination and a desired posture inclination of a predetermined portion, such as a base body, (posture inclination difference) is approximated to zero, and joints of the mobile body 1 are operated so that a desired relative height obtained by combining the correction amounts is satisfied.
摘要翻译：接地部分以树结构的方式分类，使得装备有三个或更多个接地部分的移动体（移动机器人）的所有接地部分成为叶节点，并且中间节点存在于叶节点和根节点之间节点具有所有叶节点作为其后代节点。在具有子节点的每个节点（第C节点）上，确定第C个节点的接地部分的期望相对高度的校正量，使得至少实际姿势倾斜与期望姿势之间的差异诸如基体的预定部分的倾斜（姿势倾斜差）近似为零，并且操作移动体1的关节，使得满足通过组合校正量而获得的期望相对高度。

10. 发明授权

US07774098B2 Gait generating device for moving robot 有权
标题翻译：用于移动机器人的步态生成装置
公开(公告)号：US07774098B2
公开(公告)日：2010-08-10
申请号：US10597933
申请日：2005-02-28
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： To generate a desired gait of a robot 1 such that a permissible range of a predetermined component (a translational floor reaction force horizontal component or the like) of a floor reaction force acting on the mobile robot 1, a gait generating system for a mobile robot creates a provisional motion, which indicates a provisional value of a desired motion, and repeats processing for correcting the provisional motion by using a first dynamic model and a second dynamic model having a dynamic accuracy that is higher than that of the first dynamic model until a predetermined condition is satisfied, thereby obtaining a final corrected motion as the desired motion. Relative to the provisional motion and a corrected motion at each correction, a difference between a predetermined component of a floor reaction force produced on the second dynamic model and a predetermined component of a floor reaction force produced on the first dynamic model is determined as a floor reaction force error, and a change amount of the error at each correction is also determined. A corrected motion when the change amount has converged to zero is determined as the desired motion.
摘要翻译：为了产生机器人1的所需步态，使得作用在移动机器人1上的地板反作用力的预定部件（平移地板反作用力水平部件等）的允许范围，用于移动机器人的步态生成系统创建指示期望运动的临时值的临时运动，并且通过使用具有比第一动态模型的动态精度更高的动态精度的第一动态模型和第二动态模型来重复用于校正临时运动的处理，直到满足预定条件，从而获得作为期望运动的最终校正运动。相对于临时运动和在每次校正处的校正运动，将在第二动态模型上产生的地面反作用力的预定分量与在第一动态模型上产生的地板反作用力的预定分量之间的差确定为底板反作用力误差和每次校正时的误差的变化量也被确定。当变化量已经收敛到零时的校正运动被确定为期望的运动。

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