公开(公告)号：US20100036527A1

公开(公告)日：2010-02-11

申请号：US12521828

申请日：2008-10-07

Applicant: Shinichi Matsunaga ,  Naohide Ogawa ,  Kimio Takahashi

Inventor： Shinichi Matsunaga ,  Naohide Ogawa ,  Kimio Takahashi

IPC: G06F19/00 ,  B62D57/02

CPC classification number: B25J13/06 ,  B25J9/1676 ,  G05D1/0033 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0217

Abstract: A remote controller enables a user to manipulate behavior of a robot so that the robot does not stray away from a given area and also avoids contact with an object. If a route designated by the user satisfies a stable movement requirement, a first command signal is transmitted from the remote controller to the robot. By doing so, it is possible to move the robot according to the designated route. On the other hand, if the route designated by the user does not satisfy the stable movement requirement, the first command signal is not transmitted from the remote controller to the robot. Therefore, it is possible to stop the robot from moving according to the designated route, and further to avoid the situation where the robot strays away from the designated region, or comes into contact with the object.

Abstract translation: 遥控器使用户能够操纵机器人的行为，使得机器人不会偏离给定的区域，也避免与对象的接触。 如果由用户指定的路由满足稳定的移动要求，则从遥控器向机器人发送第一命令信号。 通过这样做，可以根据指定的路线移动机器人。 另一方面，如果由用户指定的路径不满足稳定运动要求，则不将第一命令信号从遥控器发送到机器人。 因此，可以根据指定的路线停止机器人的移动，并且进一步避免机器人远离指定区域而与物体接触的情况。

公开(公告)号：US20090143931A1

公开(公告)日：2009-06-04

申请号：US12323862

申请日：2008-11-26

Applicant: Makoto Sekiya

Inventor： Makoto Sekiya

IPC: G05D1/00

CPC classification number: G05D1/0246 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0289 ,  G05D2201/0217

Abstract: Mobile apparatuses capable of moving or acting autonomously, without contacting each other, in an environment where movements of the mobile apparatuses are not managed by a server are provided. In a robot functioning as a first mobile apparatus, it is recognized that an object corresponds to a second mobile apparatus, and based on this recognition, a target trajectory is searched for and determined. Further, the first mobile apparatus causes another robot functioning as the second mobile apparatus to recognize a part or a whole of the target trajectory. In the second mobile apparatus, the part or the whole of the target trajectory of the first mobile apparatus is recognized, and based on this recognition, a target trajectory that the second mobile apparatus should follow is searched for and determined. This allows the mobile apparatuses to move along their respective target trajectories to avoid contact with each other.

Abstract translation: 提供能够在不由服务器管理移动装置的移动的环境中自主移动或自动地进行移动的移动装置，而不会彼此接触。 在作为第一移动装置的机器人中，认识到对象对应于第二移动装置，并且基于该识别，搜索并确定目标轨迹。 此外，第一移动装置使作为第二移动装置的另一机器人识别目标轨迹的一部分或全部。 在第二移动装置中，识别第一移动装置的目标轨迹的一部分或整体，并且基于该识别，搜索并确定第二移动装置应遵循的目标轨迹。 这允许移动装置沿其各自的目标轨迹移动以避免彼此接触。

公开(公告)号：US20070216347A1

公开(公告)日：2007-09-20

申请号：US11705772

申请日：2007-02-14

Applicant: Satoshi Kaneko ,  Koji Okazaki ,  Hiroyuki Makino ,  Takashi Nakayama ,  Masaaki Muromachi

Inventor： Satoshi Kaneko ,  Koji Okazaki ,  Hiroyuki Makino ,  Takashi Nakayama ,  Masaaki Muromachi

IPC: H02J7/00

CPC classification number: B25J19/005 ,  B60L11/1833 ,  G05D1/0225 ,  G05D2201/0217 ,  H01R13/2421 ,  H01R13/6315 ,  H02J7/0042 ,  Y02T10/7005 ,  Y02T10/7072 ,  Y02T90/12 ,  Y02T90/121 ,  Y02T90/125 ,  Y02T90/14

Abstract: A charging system for a legged mobile robot that facilitates positioning of a robot to be charged and does not put a load on the robot is provided. The charging system includes a battery 2, a power receiving connector 4 and a movable shutter member 5 capable of being opened and closed on a rear cover 3, which are provided on a robot 1, and a holder 21, a power supplying connector 22, a slide mechanism 23, a base plate 25, a charging power supply 26 and the like, which are provided on a charging station 20. The robot 1 performs a predetermined positioning on the base plate 25 and then moves the center of gravity rearward to connect the power receiving connector 4 to the power supplying connector 22. In this step, when the rear cover 3 of the robot 1 is guided by a first guide section 21a of the holder 21, the slide mechanism 23 allows the holder 21 to move horizontally. Thus, even if the robot 1 and the charging station 20 are slightly misaligned with each other, the robot 1 can be easily positioned correctly.

Abstract translation: 提供了一种用于有助于定位要充电的机器人并且不对机器人施加负载的有腿移动机器人的计费系统。 充电系统包括设置在机器人1上的能够在后盖3上打开和关闭的电池2，电力接收连接器4和可动活门构件5，以及保持器21，供电连接器22， 设置在充电站20上的滑动机构23，基板25，充电电源26等。 机器人1在基板25上执行预定的定位，然后将重心向后移动，以将电力接收连接器4连接到供电连接器22。 在该步骤中，当机器人1的后盖3被保持器21的第一引导部21a引导时，滑动机构23允许保持器21水平移动。 因此，即使机器人1和充电站20彼此稍微不一致，也能够容易地正确地定位机器人1。

公开(公告)号：US20070135966A1

公开(公告)日：2007-06-14

申请号：US11608021

申请日：2006-12-07

Applicant: Yuichiro Kawaguchi ,  Taro Yokoyama ,  Tomoki Watabe ,  Minami Asatani

Inventor： Yuichiro Kawaguchi ,  Taro Yokoyama ,  Tomoki Watabe ,  Minami Asatani

IPC: G06F19/00

CPC classification number: G06N3/008 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D2201/0217

Abstract: When there is an object that has a possibility to come into contact with a robot 1 in a desired path, the robot 1 is decelerated stepwise according to the distance L from the robot 1 to a predicted contact position along the desired path. For example, legs 13 and the like of the robot 1 are so controlled that when the distance L is less than a first threshold L1, the moving speed is reduced to a first speed V1, and when the distance L is less than a second threshold lower than the first threshold, the moving speed is reduced from the first speed to a second speed.

Abstract translation: 当存在能够以期望的路径与机器人1接触的对象时，机器人1根据从机器人1到期望路径的预测接触位置的距离L而逐步减速。 例如，机器人1的腿部13等被控制为当距离L小于第一阈值L 1时，移动速度被降低到第一速度V 1 并且当距离L小于低于第一阈值的第二阈值时，移动速度从第一速度降低到第二速度。

公开(公告)号：US20060095160A1

公开(公告)日：2006-05-04

申请号：US11261775

申请日：2005-10-31

Applicant: Atsuo Orita ,  Naoaki Sumida

Inventor： Atsuo Orita ,  Naoaki Sumida

IPC: G05B19/418

CPC classification number: G05D1/0289 ,  G05B2219/39082 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0217

Abstract: Disclosed is a robot controller which includes a map acquisition unit for obtaining map data on an active area where the routes are formed, a current location acquisition unit for obtaining current location data on current locations of the robots, a sub-goal acquisition unit for obtaining sub-goal data on sub-goals created on the routes, a collision possibility determination unit for determining whether two robots are likely to collide, a moving route change instruction unit for generating a moving route changing instruction signal, the moving route changing instruction signal for allowing at least one of the two robots to change its route, and a sending device for transmitting the moving route changing instruction signal to the corresponding one of the two robots. In this controller, the robots are controlled such that they move around without causing collisions.

Abstract translation: 公开了一种机器人控制器，其包括：地图获取单元，用于在形成路线的有效区域上获取地图数据;当前位置获取单元，用于获取关于机器人当前位置的当前位置数据;子目标获取单元，用于获得 在路线上创建的子目标的子目标数据，用于确定两个机器人是否可能发生碰撞的碰撞可能性确定单元，用于生成移动路线改变指令信号的移动路线改变指令单元，用于 允许两个机器人中的至少一个改变其路线;以及发送装置，用于将移动路线改变指令信号发送到两个机器人中的相应一个机器人。 在该控制器中，机器人被控制成使得它们在不引起碰撞的情况下移动。

公开(公告)号：US20050256610A1

公开(公告)日：2005-11-17

申请号：US11108723

申请日：2005-04-19

Applicant: Atsuo Orita

Inventor： Atsuo Orita

IPC: B25J13/00 ,  B25J5/00 ,  G05B19/418

CPC classification number: G05D1/0251 ,  G05D1/0088 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0207 ,  G05D2201/0217

Abstract: The robot control apparatus has an input-output section, a control section including a priority data generation section, a schedule data generation section, an execution command generation section, and a task data dividing section, a map information database, individual information database, a robot information database, and a task information database. The priority data generation section generates priority data for task data, stored in a task control database that that has not been executed. The schedule data generation section generates schedule data by assigning tasks to the robots on the basis of the priority data to generate schedule data. The execution command generation section generates execution commands for causing the robots to execute the tasks.

Abstract translation: 机器人控制装置具有输入输出部，包括优先数据生成部，调度数据生成部，执行命令生成部和任务数据分割部的控制部，地图信息数据库，个人信息数据库， 机器人信息数据库和任务信息数据库。 优先级数据生成部生成存储在未被执行的任务控制数据库中的任务数据的优先级数据。 调度数据生成部通过基于优先级数据向机器人分配任务来生成调度数据，生成调度数据。 执行命令生成部生成使机器人执行任务的执行命令。

公开(公告)号：US20050219114A1

公开(公告)日：2005-10-06

申请号：US11089354

申请日：2005-03-25

Applicant: Koji Kawabe ,  Satoki Matsumoto

Inventor： Koji Kawabe ,  Satoki Matsumoto

IPC: G01S1/70 ,  G01S13/06 ,  G01S13/08 ,  G01S13/74 ,  G01S13/76 ,  G01S13/88 ,  G01S17/06

CPC classification number: G01S13/765 ,  G01S1/70 ,  G05D1/028 ,  G05D2201/0217

Abstract: A target object detection system for detecting a target object using a detector and a tag on the target object; the tag includes a radio wave receiver receiving radio wave from the detector; a light receiver receiving a light signal from the detector; a receipt signal generator generating a receipt signal; and a transmitter which transmits the receipt signal to the detector; and the detector includes a radio wave transmitter transmitting radio wave to the surrounding area; a receiver receiving the receipt signal from the tag; a light emitter irradiating the light signal to a search region; a controller controlling the radio wave transmitter, the receiver, and the light emitter; and a target position measuring unit measuring a distance to the target object based on the intensity of the receipt signal, and regarding the irradiation direction of the light signal from the light emitter as the direction of the target-object.

Abstract translation: 一种目标对象检测系统，用于使用检测器和目标对象上的标签来检测目标对象; 所述标签包括从所述检测器接收无线电波的无线电波接收机; 接收来自检测器的光信号的光接收器; 产生收据信号的收据信号发生器; 以及发送器，其将接收信号发送到检测器; 并且检测器包括向周围区域发送无线电波的无线电波发射机; 从标签接收收据信号的接收器; 将光信号照射到搜索区域的发光体; 控制无线电波发射器，接收器和发光器的控制器; 以及目标位置测量单元，其基于接收信号的强度来测量到目标对象的距离，并且关于来自发光器的光信号的照射方向作为目标对象的方向。

公开(公告)号：US20050125099A1

公开(公告)日：2005-06-09

申请号：US10970977

申请日：2004-10-22

Applicant: Tatsuo Mikami ,  Atsushi Miyamoto ,  Jinichi Yamaguchi

Inventor： Tatsuo Mikami ,  Atsushi Miyamoto ,  Jinichi Yamaguchi

IPC: B25J9/22 ,  B25J5/00 ,  G06F19/00 ,  G06N3/00 ,  G06T13/40

CPC classification number: G06N3/008 ,  B25J9/1671 ,  B62D57/032 ,  G05D1/0891 ,  G05D2201/0217

Abstract: To implement a dynamic, elegant motion performance of an actual robot, a motion editing system is provided which includes a motion editor to edit motions of an upper body and whole body of the robot and a foot trajectory editor to create a gait pattern and lower-body motion to stabilize the entire robot. The foot trajectory editor includes the same gait pattern generator and motion stabilized as those installed in the actual robot. Before performing the edited motions on the actual robot, the motions are created, corrected and stabilized on a 3D viewer.

Abstract translation: 为了实现实际机器人的动态，优雅的运动性能，提供了一种运动编辑系统，其包括运动编辑器，用于编辑机器人的上身和全身的运动，以及脚轨迹编辑器，以创建步态图案， 身体运动来稳定整个机器人。 脚踏轨迹编辑器包括与实际机器人中安装的相同的步态模式发生器和运动稳定。 在对实际的机器人执行编辑的动作之前，在3D查看器上创建，修正和稳定运动。

公开(公告)号：US20240051122A1

公开(公告)日：2024-02-15

申请号：US18494361

申请日：2023-10-25

Applicant: Boston Dynamics, Inc.

Inventor： Robin Deits ,  Scott Kuindersma ,  Matthew P. Kelly ,  Twan Koolen ,  Yeuhi Abe ,  Benjamin Stephens

IPC: B25J9/16 ,  B25J13/08 ,  G05D1/02 ,  B62D57/02

CPC classification number: B25J9/1602 ,  B25J13/08 ,  G05D1/0212 ,  B62D57/02 ,  G05D1/0246 ,  G05D2201/0217

Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.

公开(公告)号：US11858138B2

公开(公告)日：2024-01-02

申请号：US17234831

申请日：2021-04-20

Applicant: ZHEJIANG UNIVERSITY

Inventor： Qiuguo Zhu ,  Zunwang Ma ,  Bo Peng ,  Jun Wu ,  Rong Xiong

IPC: B25J9/16 ,  G05D1/02

CPC classification number: B25J9/1602 ,  B25J9/1633 ,  G05D1/0223 ,  G05D2201/0217

Abstract: The present disclosure provides a method for realizing a dynamic running gait of a biped robot on a rough terrain road, which sets a state machine for an entire running cycle to perform a balance control and movement trajectory planning of the robot in each state. At the time that the robot switches from the in-air phase into a landing phase, a SLIP model is used to control the posture balance and landing cushion; and when the robot is stable after landing, an LIP model is used to control a center of mass of the robot to a set height. An in-air phase of the robot in running is generated through movement trajectory planning and state switching of a supporting leg and a swinging leg to realize a running of the robot.