公开(公告)号：US08954195B2

公开(公告)日：2015-02-10

申请号：US13672774

申请日：2012-11-09

Applicant: Harris Corporation

Inventor： Matthew D. Summer ,  Paul M. Bosscher

IPC: G05B15/00 ,  B25J13/02 ,  B25J13/08

CPC classification number: B25J13/025 ,  B25J13/02 ,  B25J13/081 ,  B25J13/084

Abstract: System (100) and methods (500) for remotely controlling a slave device (102). The methods involve: using a Hybrid Hand Controller (“HHC”) as a full haptic controller to control the slave device when the HHC (406) is coupled to a docking station (460); detecting when the HHC is or is being physically de-coupled from the docking station; automatically and seamlessly transitioning an operational mode of at least the HHC from a full haptic control mode to a gestural control mode, in response to a detection that the HHC is or is being de-coupled from the docking station; and using at least the HHC as a portable gestural controller to control the slave device when the HHC is de-coupled from the docking station.

Abstract translation: 用于远程控制从设备（102）的系统（100）和方法（500）。 该方法包括：当HHC（406）耦合到对接站（460）时，使用混合手控制器（“HHC”）作为完全触觉控制器来控制从设备; 检测何时HHC正在或者正在与对接站物理去耦合; 响应于HHC正在或正在从对接站去耦合的检测，将至少HHC的操作模式从完全触觉控制模式自动地和无缝地转换到手势控制模式; 并且当HHC从对接站解耦时，至少使用HHC作为便携式手势控制器来控制从设备。

公开(公告)号：US20140188280A1

公开(公告)日：2014-07-03

申请号：US13844799

申请日：2013-03-16

Applicant: Hyundai Motor Company

Inventor： Seok Won Lee ,  Woo Sung Yang

IPC: B25J9/16

CPC classification number: B25J9/1607 ,  B25J13/081 ,  B62D57/032 ,  Y10S901/01

Abstract: A method includes determining whether a robot is walking and a direction in which the robot is walking; measuring an amount of time taken for a sole of a foot of the robot to step on the ground; calculating an imaginary reaction force applied to the sole using a trigonometric function having, as a period, the measured amount of time taken for the sole to step on the ground; and applying the calculated imaginary reaction force to a Jacobian transposed matrix and converting the imaginary reaction force into a drive torque for a lower extremity joint of the robot.

Abstract translation: 一种方法，包括确定机器人是否正在行走以及机器人行走的方向; 测量机器人脚部脚踏在地面上所花费的时间; 使用三角函数计算施加到鞋底的假想反作用力，该三角函数具有作为鞋底在地面上测量的测量时间的周期; 并将所计算出的虚拟反作用力应用于雅可比转置矩阵，并将该虚拟反作用力转换为机器人下肢关节的驱动转矩。

公开(公告)号：US20140135991A1

公开(公告)日：2014-05-15

申请号：US13672774

申请日：2012-11-09

Applicant: HARRIS CORPORATION

Inventor： Matthew D. Summer ,  Paul M. Bosscher

IPC: B25J13/02

CPC classification number: B25J13/025 ,  B25J13/02 ,  B25J13/081 ,  B25J13/084

Abstract: System (100) and methods (500) for remotely controlling a slave device (102). The methods involve: using a Hybrid Hand Controller (“HHC”) as a full haptic controller to control the slave device when the HHC (406) is coupled to a docking station (460); detecting when the HHC is or is being physically de-coupled from the docking station; automatically and seamlessly transitioning an operational mode of at least the HHC from a full haptic control mode to a gestural control mode, in response to a detection that the HHC is or is being de-coupled from the docking station; and using at least the HHC as a portable gestural controller to control the slave device when the HHC is de-coupled from the docking station.

Abstract translation: 用于远程控制从设备（102）的系统（100）和方法（500）。 该方法包括：当HHC（406）耦合到对接站（460）时，使用混合手控制器（“HHC”）作为完全触觉控制器来控制从设备; 检测何时HHC正在或者正在与对接站物理去耦合; 响应于HHC正在或正在从对接站去耦合的检测，将至少HHC的操作模式从完全触觉控制模式自动地和无缝地转换到手势控制模式; 并且当HHC从对接站解耦时，至少使用HHC作为便携式手势控制器来控制从设备。

公开(公告)号：US20130184871A1

公开(公告)日：2013-07-18

申请号：US13785324

申请日：2013-03-05

Applicant: Panasonic Corporation

Inventor： Yudai FUDABA ,  Masaki YAMAMOTO ,  Yuko TSUSAKA ,  Taichi SATO

IPC: B25J13/02

CPC classification number: B25J13/02 ,  B25J13/081 ,  G05B19/423 ,  G05B2219/36453 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/04 ,  Y10S901/09 ,  Y10S901/20 ,  Y10S901/30 ,  Y10S901/33 ,  Y10S901/46

Abstract: A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.

Abstract translation: 机器人手臂包括夹持部，其构造成与附接到机器人臂的末端执行器分离。 当抓握部分被使用者抓住并移动时，机器人手臂移动跟踪抓握部分。 此外，握持部包括接触传感器，并且根据接触传感器的值切换跟踪控制方法。

公开(公告)号：US20120256739A1

公开(公告)日：2012-10-11

申请号：US13435336

申请日：2012-03-30

Applicant: Hideo Kawabe ,  Masatoshi Ueno ,  Shinobu Kuriya ,  Yusaku Kato ,  Kenichi Kabasawa ,  Tetsuro Goto ,  Tsubasa Tsukahara ,  Toshiyuki Nakagawa

Inventor： Hideo Kawabe ,  Masatoshi Ueno ,  Shinobu Kuriya ,  Yusaku Kato ,  Kenichi Kabasawa ,  Tetsuro Goto ,  Tsubasa Tsukahara ,  Toshiyuki Nakagawa

IPC: G08B6/00

CPC classification number: B25J13/025 ,  A63F13/06 ,  A63F13/211 ,  A63F13/214 ,  A63F13/218 ,  A63F13/24 ,  A63F2300/105 ,  A63F2300/1068 ,  B25J13/081 ,  G06F3/016 ,  G06F3/0346 ,  G06F3/0414

Abstract: An operation apparatus includes a base, a sensing unit, a plurality of plates, and a drive mechanism. The base has a surface. The sensing unit includes at least three pressure-sensitive detection regions that are provided at different vertex positions of a polygon having at least three corners set in each of a plurality of regions obtained by partitioning at least a part of the surface of the base. The plurality of plates are provided to correspond to the plurality of regions and cover the at least a part of the surface. The drive mechanism is configured to drive the plurality of plates on the basis of a signal generated by detection of the sensing unit.

Abstract translation: 操作装置包括基座，感测单元，多个板和驱动机构。 底座有一个表面。 感测单元包括至少三个压敏检测区域，其被设置在多边形的不同顶点位置处，该多边形具有至少三个角落，该至少三个角设置在通过划分基底的至少一部分表面而获得的多个区域中的每个区域中。 多个板被提供以对应于多个区域并且覆盖表面的至少一部分。 驱动机构被配置为基于通过感测单元的检测而产生的信号驱动多个板。

公开(公告)号：US20120072010A1

公开(公告)日：2012-03-22

申请号：US13232183

申请日：2011-09-14

Applicant: Youhei YAMADA

Inventor： Youhei YAMADA

IPC: B65G43/08 ,  B65G47/74

CPC classification number: H01L21/67259 ,  B25J13/081 ,  B25J19/063 ,  H01L21/67742 ,  H01L21/67754

Abstract: A transfer device for transferring a transfer target object includes a support member, which is movable forward and backward, for supporting the transfer target object, and a sensor for detecting that a tip of the support member comes into contact with an obstacle when the support member moves forward. The sensor includes a first conductive ring having flexibility, which is provided at the tip of the support member in a grounded state, a second conductive ring provided inside the first conductive ring and separated from the first conductive ring, and a detector which detects that the first conductive ring and the second conductive ring are short-circuited when the first conductive ring comes into contact with the second conductive ring by being deformed due to a contact with the obstacle.

Abstract translation: 用于传送转印目标物体的转印装置包括可向前和向后移动以支撑转印目标物体的支撑构件，以及用于检测支撑构件的尖端与障碍物接触的传感器，当支撑构件 向前走 传感器包括具有柔性的第一导电环，其设置在处于接地状态的支撑构件的尖端处，设置在第一导电环内并与第一导电环分离的第二导电环，以及检测器， 当第一导电环由于与障碍物接触而变形而与第二导电环接触时，第一导电环和第二导电环短路。

公开(公告)号：US20090055019A1

公开(公告)日：2009-02-26

申请号：US12117389

申请日：2008-05-08

Applicant: Walter Dan Stiehl ,  Cynthia Breazeal ,  Jun Ki Lee ,  Allan Z. Maymin ,  Heather Knight ,  Robert L. Toscano ,  Iris M. Cheung

Inventor： Walter Dan Stiehl ,  Cynthia Breazeal ,  Jun Ki Lee ,  Allan Z. Maymin ,  Heather Knight ,  Robert L. Toscano ,  Iris M. Cheung

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  B25J9/04 ,  B25J13/02

CPC classification number: B25J13/00 ,  A63H2200/00 ,  B25J9/1656 ,  B25J9/1671 ,  B25J13/081 ,  G05B2219/33051 ,  G05B2219/35444 ,  G06N3/008

Abstract: An interactive system for interacting with a sentient being. The system includes a robotic companion of which the sentient being may be a user and an entity which employs the robot as a participant in an activity involving the user. The robotic companion responds to inputs from an environment that includes the user during the activity. The robotic companion is capable of social and affective behavior either under control of the entity or in response to the environment. The entity may provide an interface by which an operator may control the robotic companion. Example applications for the interactive system include as a system for communicating with patients that have difficulties communicating verbally, a system for teaching remotely-located students or students with communication difficulties, a system for facilitating social interaction between a remotely-located relative and a child, and systems in which the user and the robot interact with an entity such as a smart book. Also disclosed are control interfaces for the robotic companion, techniques for rendering the robotic companion sensitive to touch and responding to those touches, and techniques for providing quiet, back-drivable motion to components of the robotic companion.

Abstract translation: 与有感情的人交互的互动系统。 该系统包括机器人伴侣，其中可能是用户，以及使用机器人作为涉及用户的活动的参与者的实体。 机器人伴侣在活动期间响应来自包括用户的环境的输入。 机器人伴侣能够在实体的控制下或响应于环境的情况下进行社会和情感行为。 实体可以提供操作者可以通过该接口来控制机器人伴侣的接口。 交互式系统的示例性应用包括作为与口头沟通困难的患者沟通的系统，用于教导远程学生或具有沟通困难的学生的系统，用于促进远程位置的亲戚和儿童之间的社交交互的系统， 以及用户和机器人与智能书等实体进行交互的系统。 还公开了用于机器人伴侣的控制接口，用于使机器人伴侣敏感地触摸并响应于这些触摸的技术，以及用于向机器人伴侣的组件提供安静的可驱动运动的技术。

公开(公告)号：US06902015B2

公开(公告)日：2005-06-07

申请号：US10466316

申请日：2002-06-03

Applicant: Takayuki Furuta ,  Ken Tomiyama ,  Hiroaki Kitano

Inventor： Takayuki Furuta ,  Ken Tomiyama ,  Hiroaki Kitano

IPC: B25J5/00 ,  B25J13/00 ,  B25J13/08 ,  B25J19/00 ,  B25J19/06 ,  B62D57/02 ,  B62D57/032 ,  F16F7/00 ,  B62D51/06

CPC classification number: B62D57/032 ,  B25J13/081 ,  B25J19/0091

Abstract: A biped walking humanoid robot is disclosed having an arrangement whereby shocks acting on various parts of the robot when it falls can be relieved and its state of fall can then be detected. The robot has a body (11) capable of bending forward, a pair of legs (12L, 12R) attached to a lower part of the body at a pair of opposite sides thereof, respectively, a pair of arms (13L, 13R) attached to an upper part of the body at a pair of opposite sides, respectively, and a head (14) attached to an upper end of the body, each of the legs having a upper leg (15L, 15R) attached to the body so as to be pivotally movable relative thereto triaxially, a lower leg (16L, 16R) attached to a lower end of the upper leg so as to be pivotally movable relative thereto monoaxially and a foot (17L, 17R) attached to a lower end of the lower leg so as to be pivotally movable relative thereto biaxially, each of the arms having an upper arm (25L, 25R) attached to the body so as to be pivotally movable relative thereto biaxially, a lower arm (26L, 26R) attached to the upper arm so as to be pivotally movable relative thereto monoaxially and a hand (27L, 27R) attached to the lower hand so as to be pivotally movable relative thereto biaxially, the robot also having drive means (23L, 23R, 24L, 24R; 21L, 21R; 19L, 19R, 20L, 20R, 18L, 18R; . . . ) associated with the feet, the lower legs and the upper legs of the legs, the hands, the lower arms and the upper arms of the arms and a body bending-forward region for pivotally moving them, respectively, a control stage (51) for controlling driving actions of the drive means, and a contact detector (40) mounted at each of an outer elbow surface area formed between the upper and lower arms, and an outer wrist surface area between the lower arm and the hand of each of the arms, and a lower toe surface area of the foot, a lower heal surface area of the foot, an outer knee surface area between the upper and lower legs of each of the legs, and a hip surface area and a back surface area of the body, the contact detector at each of these surface areas comprising a casing portion (41) made of a material forming an outer covering surface area of the robot, a pressure sensor (42) for sensing a pressure acting on the casing portion and a shock absorbing material (43) for absorbing a shock acting on the casing portion. Thus, when the biped walking humanoid robot is having a fall, the state or type of this fall can be determined by the control stage in response to a contact signal detected by the pressure sensor in the contact detector at a relevant part of the abovementioned robot parts which is brought into contact with the floor or ground. Then, on the basis of the type of the fall determined, the control stage is allowed to act on the drive means to move the arm and leg parts suitably so as to cause the robot to take a corrective falling action to have a safety fall and then to move to taking a rising action to get up on its feet.

公开(公告)号：US20040138780A1

公开(公告)日：2004-07-15

申请号：US10706980

申请日：2003-11-14

Inventor： Murray Anthony Lewis

IPC: B25J005/00 ,  G06F019/00

CPC classification number: B25J13/081 ,  B25J19/021

Abstract: Robots and other mobile apparatus, especially robotic bipeds, that exhibit agile capabilities can become easily destabilized by obstacles or particular surfaces. An algorithm for controlling the movement of a robot based on visual cues and learning processes will help to avoid destabilization and movement interruption by altering the gait measurement. As such, when the robot predicts that an obstacle is upcoming, it can make adjustments by either increasing or decreasing stride so that a smooth transition can be made in bypassing the obstacle.

Abstract translation: 具有敏捷能力的机器人和其他移动设备，特别是机器人双足动物，可能会被障碍物或特定的表面容易地破坏。 基于视觉提示和学习过程控制机器人运动的算法将有助于通过改变步态测量来避免不稳定和运动中断。 因此，当机器人预测障碍即将到来时，可以通过增加或减小步幅进行调整，以便绕过障碍物进行平滑过渡。

公开(公告)号：US06538410B2

公开(公告)日：2003-03-25

申请号：US09746672

申请日：2000-12-22

Applicant: Naoto Mori ,  Satoru Shimizu

Inventor： Naoto Mori ,  Satoru Shimizu

IPC: B25J500

CPC classification number: B25J13/081 ,  B25J19/0091 ,  B62D57/032

Abstract: A legged mobile robot in which sensors which can measure contact pressure are provided so as to be distributed at corresponding portions of whole body of the robot in order to determine the state of contact with the external world. In addition, modules which use shock-absorbing members for reducing shock are provided at the corresponding portions of the whole body of the robot. These modules cover their corresponding portions of the robot in order to further function as external parts for protecting the robot from shock. The modules can be constructed so as to be removable from the body of the robot, and may include batteries for supplying electrical power to terminal parts such as sensors. The invention provides a robot which can operate while being subjected to external forces as a result of coming into contact with an obstacle or other external objects, and which makes it possible to reduce shock which is produced when the robot comes into contact with an external object.

Abstract translation: 提供可以测量接触压力的传感器的有腿移动机器人，以分布在机器人的全身的相应部分上，以便确定与外部世界的接触状态。 此外，在机器人的全身的对应部分设置有用于减少冲击的减震构件的模块。 这些模块覆盖其机器人的相应部分，以便进一步起到保护机器人免受冲击的外部部件的作用。 模块可以被构造成可从机器人的主体移除，并且可以包括用于向终端部件（例如传感器）提供电力的电池。 本发明提供一种能够在与障碍物或其他外部物体接触的同时受到外力的作用的机器人，并且能够减少当机器人与外部物体接触时产生的冲击 。