公开(公告)号：US20240061436A1

公开(公告)日：2024-02-22

申请号：US18260697

申请日：2021-12-24

Applicant: SONY GROUP CORPORATION

Inventor： RYOICHI TSUZAKI ,  NORIAKI TAKASUGI ,  TOSHIMITSU KAI

IPC: G05D1/02 ,  B62D57/02

CPC classification number: G05D1/0223 ,  G05D1/0246 ,  G05D1/0274 ,  B62D57/02 ,  G05D2201/0217

Abstract: Traveling surface shape data of only a selection region selected on the basis of target foot placement information of a moving apparatus and a search range region is generated and a foot placement position and the like of the moving apparatus are determined, so that the processing load is reduced and high-speed processing is enabled. A data processing unit that analyzes detection information of a visual sensor and determines a movement route of the moving apparatus is provided, and the data processing unit generates traveling surface shape data such as three-dimensional point cloud data that enables analysis of a shape of a traveling surface of the moving apparatus. The data processing unit selects a generation target region of the traveling surface shape data on the basis of the target movement route information of the moving apparatus and a predetermined search range region, generates the traveling surface shape data in the selection region selected, and determines a movement route such as a foot placement position of the moving apparatus with reference to the generated traveling surface shape data.

公开(公告)号：US20240126303A1

公开(公告)日：2024-04-18

申请号：US18546281

申请日：2022-02-10

Applicant: SONY GROUP CORPORATION

Inventor： MASAYA KINOSHITA ,  KENICHIRO NAGASAKA ,  NORIAKI TAKASUGI

IPC: G05D1/654 ,  G05D1/49

CPC classification number: G05D1/654 ,  G05D1/49 ,  G05D2109/12

Abstract: An information processing device (100) includes a calculation unit (113) that calculates an amount of change in a landing point of a landing point position to which a current swing leg of a robotic apparatus (1) including one or more legs to land next from a planned landing point position, and an amount of change in the center of pressure of a position of the center of pressure to be generated by a current ground contact leg of the robotic apparatus (1) from a position of a target center of pressure, and a drive control unit (114) that controls an attitude and movement of the robotic apparatus (1), based on at least one of the amount of change in the landing point or the amount of change in the center of pressure, calculated by the calculation unit (113).

公开(公告)号：US20240058943A1

公开(公告)日：2024-02-22

申请号：US18260652

申请日：2021-12-24

Applicant: SONY GROUP CORPORATION

Inventor： NORIAKI TAKASUGI ,  MASAYA KINOSHITA

IPC: B25J5/00 ,  B25J9/16 ,  B25J19/02 ,  G05D1/02

CPC classification number: B25J5/007 ,  B25J9/1697 ,  B25J19/023 ,  B25J9/1664 ,  G05D1/0223

Abstract: Traveling according to a predefined target speed with each leg of a leg wheel robot grounded in a movement range corresponding to each leg can be performed even on a travel surface such as stairs. Travel surface information of the leg wheel robot that travels while alternately switching a grounding period in which traveling is performed with the wheels at the leg tips grounded to the travel surface and a free leg period in which the wheels at the leg tips are separated from the travel surface is acquired, a movement range corresponding to each leg in which the legs of the leg wheel robot can travel while being grounded to the travel surface is calculated, and track information of the legs for causing the leg wheel robot to travel with each leg grounded to the movement range corresponding to each leg according to a predefined target speed is generated.

公开(公告)号：US20220161414A1

公开(公告)日：2022-05-26

申请号：US17593481

申请日：2020-03-12

Applicant: SONY GROUP CORPORATION

Inventor： YUKI ITOTANI ,  HIROMASA MASUDA ,  NORIAKI TAKASUGI

IPC: B25J3/00

Abstract: There is provided a control device including a control unit configured to control an operation offset that indicates a difference between a control reference point for a slave unit and a control reference point for a master unit on the basis of operation magnification indicating a ratio of a movement amount of the master unit to a movement amount of the slave unit, in which the control unit controls the operation offset for two pairs of master unit and slave unit according to a change in the operation magnification in a case where a designated position of a first pair of master unit and a slave unit of the two pairs of master units and the slave units is kept constant.

公开(公告)号：US20220106001A1

公开(公告)日：2022-04-07

申请号：US17428038

申请日：2019-12-24

Applicant: SONY GROUP CORPORATION

Inventor： NORIAKI TAKASUGI ,  WATARU KOKUBO ,  MASAYA KINOSHITA ,  YASUNORI KAWANAMI

IPC: B62D57/028 ,  G05D1/02 ,  B62D57/032 ,  B60K31/00

Abstract: There is achieved a traveling robot configured to travel by switching between leg driving and wheel driving while suppressing a decrease in velocity in switching between the leg driving and the wheel driving. The traveling robot includes a drive unit, a clutch configured to switch a transmission destination of a driving force from the drive unit, a leg and a wheel that are configured to be driven by the driving force from the drive unit, and a control unit. The control unit executes, in drive switching between leg driving and wheel driving, travel velocity control before the drive switching such that a travel velocity after the drive switching is substantially equal to a travel velocity before the drive switching. The control unit sets, in the drive switching between the leg driving and the wheel driving, a sliding movement state in which the wheel is caused to slide in a non-driven state. The control unit executes, in the drive switching, acceleration processing before the drive switching such that a travel velocity after the drive switching is substantially equal to a travel velocity before the drive switching.

公开(公告)号：US20240294218A1

公开(公告)日：2024-09-05

申请号：US18258303

申请日：2021-12-10

Applicant: SONY GROUP CORPORATION

Inventor： YASUHISA KAMIKAWA ,  NORIAKI TAKASUGI

IPC: B62D57/024 ,  B60B19/00 ,  B62D61/10 ,  B62D61/12

CPC classification number: B62D57/024 ,  B60B19/003 ,  B62D61/10 ,  B62D61/12

Abstract: The present technology pertains to a mobile object configured so that a mobile object which performs multi-leg movement can stably move. The mobile object includes a body, a front left leg having a front left wheel, a front middle leg having a front middle wheel, a front right leg having a front right wheel, a rear left leg having a rear left wheel, a rear middle leg having a rear middle wheel, a rear right leg having a rear right wheel, and an operation control unit, the mobile object further including at least one of: a combination in which the left and right front wheels are drive wheels driven by the operation control unit, and the rear middle wheel is an omnidirectional wheel; or a combination in which the left and right rear wheels are drive wheels driven by the operation control unit, and the front middle wheel is an omnidirectional wheel. The present technology can be applied to, for example, a mobile object that transports a cargo.

公开(公告)号：US20230018155A1

公开(公告)日：2023-01-19

申请号：US17904743

申请日：2021-02-17

Applicant: SONY GROUP CORPORATION

Inventor： NORIAKI TAKASUGI

IPC: B25J13/08 ,  B62D57/032 ,  B25J9/16

Abstract: A legged robot according to the present disclosure includes: a trunk; a plurality of legs provided on the trunk; and a changing section that changes a target ground-contact time of each of the legs, on the basis of target gait information, self-state information, and environment information.