公开(公告)号：US07971664B2

公开(公告)日：2011-07-05

申请号：US12406625

申请日：2009-03-18

Applicant: Sarjoun Skaff

Inventor： Sarjoun Skaff

IPC: B62D57/02

CPC classification number: B62D57/02 ,  B25J9/102 ,  B62D57/032

Abstract: The method and apparatus consist of a robot body having at least two, but preferably six appendages. The appendages are organized into appendage groups of one to six appendages. The appendages are linked mechanically into groups of two or more and each group is actuated using a single drive actuator. A selective engagement mechanism is used to selectively engaged and disengage one or more appendages at a time in a way that allows for at least one appendage and at most all but one appendage per group to be engaged to a group's drive actuator. When the appendage is disengaged it is preferably locked in place to resist a reasonable force applied to them externally, such as the force equivalent to the weight of the robot.

Abstract translation: 该方法和装置由具有至少两个但优选地为六个附件的机器人主体组成。 附件分为1至6个附属物的附属组织。 附件通过机械连接成两组或更多组，每组都使用单个驱动器致动器来致动。 选择性接合机构用于一次选择性地接合和分离一个或多个附属物，其方式为允许至少一个附件，并且每个组中至多一个附件至多一个附件被接合到组的驱动致动器。 当附件脱离时，其优选地被锁定就位以抵抗外部施加到其上的合理的力，例如等于机器人的重量的力。

公开(公告)号：US20090188730A1

公开(公告)日：2009-07-30

申请号：US12414588

申请日：2009-03-30

Applicant: H. PHILLIP LIMBACHER, JR.

Inventor： H. PHILLIP LIMBACHER, JR.

IPC: B62D57/032 ,  B62D57/02

CPC classification number: B62D57/02 ,  B62D57/024 ,  Y10T74/12 ,  Y10T74/1214 ,  Y10T74/1229

Abstract: An ambulatory vehicle having legs and configured for transporting a load is disclosed. The ambulatory vehicle includes a load that is able to shift the center of gravity of the ambulatory vehicle along a transverse axis and a longitudinal axis of a beam assembly. Additionally, leg assemblies of the ambulatory vehicle are configured to exchange places along the length of the beam assembly. Further, the vehicle is able to perform a number of gaits including a slow stable gait and faster dynamic gaits comprising striding, trotting, and bounding. The ambulatory vehicle is able to navigate rough terrain and steep slopes and navigate submerged.

Abstract translation: 公开了一种具有腿部并构造成用于运送负载的行走车辆。 移动车辆包括能够沿横向轴线和梁组件的纵向轴线移动移动车辆的重心的负载。 此外，移动车辆的腿组件被配置成沿着梁组件的长度交换位置。 此外，车辆能够执行多个步态，包括慢速稳定的步态和更快的动态步态，包括步幅，跑步和边界。 行走车辆能够穿越崎岖的地形和陡峭的斜坡，并潜水。

公开(公告)号：US07543663B2

公开(公告)日：2009-06-09

申请号：US11242753

申请日：2005-10-03

Applicant: Mark Setrakian ,  W. Daniel Hillis

Inventor： Mark Setrakian ,  W. Daniel Hillis

IPC: B62D57/02

CPC classification number: B62D57/022 ,  B62D57/00 ,  B62D61/00

Abstract: A virtual wheel provides a leg pair as a conveyance mechanism for a land vehicle. The virtual wheel propels the vehicle across a surface using a repetitive motion of the legs that contact the ground as would a wheel, due to their geometry. Vehicle embodiments include at least two-, three-, four- and six-wheeled vehicles, both transverse and in-line. Additionally, the invention provides a bipedal walking robot. One embodiment provides a robotic mule—a payload-carrying vehicle. The invention combines the flexible mobility of bipedal vehicles with the stability and functionality of very large-wheeled vehicles. Additionally, a bimodal conveyance mechanism readily converts between walking and rolling modes

Abstract translation: 虚拟轮提供作为陆地车辆的输送机构的腿对。 虚拟轮由于其几何形状而使车辆跨越表面使用腿的重复运动，如轮子那样接触地面。 车辆实施例包括至少两个，三个，四个和六轮车辆，横向和直列。 另外，本发明提供了一种双足步行机器人。 一个实施例提供了一种机器人骡 - 有载荷的车辆。 本发明将双足车辆的灵活移动性与非常大型车辆的稳定性和功能相结合。 另外，双模输送机构容易在步行和滚动模式之间转换

公开(公告)号：US07347511B1

公开(公告)日：2008-03-25

申请号：US11061265

申请日：2005-02-17

Applicant: Frank Ronald Naypaver

Inventor： Frank Ronald Naypaver

IPC: B62D57/02

CPC classification number: B62D57/02

Abstract: A rotary walking device having multiple sequential ground engaging elongated struts interconnected between pairs of annular drive disks. Each pair of drive disks having multiple pivot attachment points for the respective opposing apertured ends of each strut. Each strut having angularly offset parallel engagement ends which engage with spaced co-parallel drive disks affording a unique rotational linear travel path that allows each of the struts to sequentially engage the ground and propel the assembly forward in a progressive walking like motion when used in combination with corresponding second strut drive assembly.

Abstract translation: 一种旋转行走装置，其具有在成对的环形驱动盘之间互连的多个顺序地面接合细长支柱。 每对驱动盘具有用于每个支柱的相应相对的有孔端的多个枢转附接点。 每个支柱具有角度地偏移平行的接合端部，其与间隔开的并联驱动盘接合，提供独特的旋转线性行进路径，其允许每个支柱顺序地接合地面并且以组合方式使用时以渐进的步行式运动向前推动组件 与对应的第二支柱驱动组件。

公开(公告)号：US06964309B2

公开(公告)日：2005-11-15

申请号：US10161530

申请日：2002-06-03

Applicant: Roger D. Quinn ,  Daniel A. Kingsley ,  John T. Offi ,  Roy E. Ritzmann

Inventor： Roger D. Quinn ,  Daniel A. Kingsley ,  John T. Offi ,  Roy E. Ritzmann

IPC: B62D57/02 ,  B62D51/06

CPC classification number: B62D57/022

Abstract: A vehicle that is propelled by as few as one actuator through a compliant drive train can move quickly on relatively smooth terrain and can climb obstacles. The body of the vehicle may consist of a single segment or multiple segments connected by articulating joints. The driving appendages can take different forms including legs or specialized legs with multiple spokes attached to a rotating hub. The driving appendages can be propelled by as few as one actuator. The driving appendages are each serially connected to their actuator(s) by a compliant device. The compliant devices permit relative motion between driving appendages that share the same actuator. A springably biased compliant device maintains nominal-desired phasing among driving appendages until one of them is forcibly perturbed. The phasing of the driving appendages, or gait, adapts to the terrain. Mechanical stops limit the excursion of the compliant device such that a new desirable leg phasing is reached for climbing large obstacles. The elasticity of the compliant device restores the phasing of the driving appendages to their nominal state when the perturbation is removed. Compliance in the driving appendages and feet smooth the cyclic motion of the body. Compliant feet conform to the terrain and provide improved traction. Steering mechanisms rotate the plane of action of the driving appendages.

Abstract translation: 通过柔性传动系由少量一个执行器推动的车辆可以在相对平滑的地形上快速移动，并且可以爬上障碍物。 车身可以由一段或多段通过铰接接头连接。 驱动附件可以采取不同的形式，包括腿部或具有连接到旋转轮毂的多个轮辐的专用腿。 驱动附件可以由少量一个执行器推动。 驱动附件各自通过兼容装置与其致动器串联连接。 兼容装置允许共享相同致动器的驱动附件之间的相对运动。 弹性偏置的柔性装置维持驱动附件中的名义上期望的相位，直到其中一个被强制扰动。 驱动附件或步态的分阶段适应地形。 机械停止限制兼容装置的偏移，使得达到新的期望的腿定位以攀爬大的障碍物。 当去除扰动时，柔性装置的弹性将驱动附件的相位恢复到其标称状态。 驱动附件和脚的顺从性平滑身体的循环运动。 合适的脚符合地形，并提供改进的牵引力。 转向机构使驱动附件的作用平面旋转。

公开(公告)号：US20050179417A1

公开(公告)日：2005-08-18

申请号：US10511451

申请日：2003-04-28

Applicant: Toru Takenaka ,  Takashi Matsumoto

Inventor： Toru Takenaka ,  Takashi Matsumoto

IPC: B25J13/08 ,  B62D57/02 ,  B62D57/032 ,  G01C19/00 ,  G01C21/16 ,  G01P15/18 ,  B25J5/00

CPC classification number: B62D57/032 ,  B25J13/088 ,  B62D57/02 ,  G01C21/16

Abstract: A system for estimating an acceleration of a motion of an accelerometer itself that is generated by a motion of a robot 1, using amounts of motional states of the robot, including a desired motion of a desired gait, a detected value of a displacement of a joint, and a desired value of the displacement of the joint of the robot 1 having a gyro sensor (angular velocity sensor) and an accelerometer installed on a body 3 or the like thereof, and for estimating an actual posture of a predetermined part, such as the body 3, on the basis of the acceleration of the motion, the detected acceleration value of the accelerometer, and the angular velocity detected value of the angular velocity sensor. An error of the estimated value of the actual posture of the predetermined part is estimated on the basis of a difference between the detected acceleration value and the motional acceleration, and then an input of an integrating means for integrating angular velocity detected values is corrected to bring the aforesaid error close to zero so as to obtain an output of the integrating means as an estimated value of the actual posture. Thus, an actual posture of a predetermined part is accurately estimated.

Abstract translation: 一种用于估计由机器人1的运动产生的加速度计本身的运动的加速度的系统，使用机器人的运动状态量，包括所需步态的期望运动，检测到的位移的值 关节，以及具有安装在主体3等上的具有陀螺仪传感器（角速度传感器）和加速度计的机器人1的关节的位移的期望值，并且用于估计预定部分的实际姿势， 作为主体3，基于运动的加速度，检测到的加速度计的加速度值和角速度传感器的角速度检测值。 基于检测到的加速度值和运动加速度之间的差来估计预定部分的实际姿势的估计值的误差，然后校正用于积分角速度检测值的积分装置的输入以带来 上述误差接近零，以便获得积分装置的输出作为实际姿势的估计值。 因此，精确地估计预定部分的实际姿势。

公开(公告)号：US20050115747A1

公开(公告)日：2005-06-02

申请号：US10499517

申请日：2002-12-26

Applicant: Toru Takenaka ,  Takashi Matsumoto

Inventor： Toru Takenaka ,  Takashi Matsumoto

IPC: B62D57/02 ,  B62D57/032 ,  B62D51/06

CPC classification number: B62D57/032 ,  B62D57/02

Abstract: When generating a gait for a legged mobile robot 1 which has floating periods in which all the legs 2 of the robot float in the air and landing periods in which any of the legs 2 is in contact with the floor appearing alternately, a desired ZMP is set at any point in time in the floating periods and the landing periods, and a desired gait is generated in such a manner that the horizontal component of the moment produced about the desired ZMP by the resultant force of gravity and an inertial force caused by a movement of the robot with the desired gait is 0. The desired ZMP is set to be substantially continuous for all the periods in the gait. Furthermore, as a dynamics model for determining the desired gait, an approximate model is used which is arranged so that the moment, about a certain point of application, of the resultant force of the inertial force and gravity calculated using the model depends on the position of the point of application.

Abstract translation: 当生成具有浮动周期的有腿移动机器人1的步态时，其中机器人的所有腿部2在空气中浮动，任何腿部2与地板交替地接触的着陆期间，期望的ZMP为 设置在浮动周期和着陆阶段的任何时间点，并且以这样的方式产生期望的步态，即通过合成的重力和由一个合成的力引起的惯性力产生在期望的ZMP周围的力矩的水平分量 具有期望步态的机器人的移动为0.所期望的ZMP被设置为在步态中的所有时段基本连续。 此外，作为用于确定期望的步态的动力学模型，使用近似模型，其被布置成使得使用该模型计算的惯性力和重力的合力大约在某一施加点处的力矩取决于位置 的应用点。

公开(公告)号：US20050110448A1

公开(公告)日：2005-05-26

申请号：US10501562

申请日：2003-01-20

Applicant: Toru Takenaka ,  Takashi Matsumoto ,  Takahide Yoshiike

Inventor： Toru Takenaka ,  Takashi Matsumoto ,  Takahide Yoshiike

IPC: B62D57/02 ,  B62D57/032 ,  B25J5/00

CPC classification number: B62D57/032 ,  B62D57/02

Abstract: A control device for a legged mobile robot, in which a correction manipulated variable of a desired floor reaction force (desired floor reaction force's moment) is subsequently determined based on an error between an actual state quantity, such as a body posture angle, of the robot 1 and a desired state quantity of the same, and at the same time, a desired movement of the robot 1 is subsequently determined by the use of the correction manipulated variable and a dynamic model. At this time, a friction force component, which defines a frictional force between the robot 1 and a floor such as a translation floor reaction force's horizontal component, is set as a variable to be limited, and an allowable range of the variable to be limited is set. The desired movement is determined so that the variable to be limited remains within the allowable range and a resultant force of an inertial force and gravity, generated by the movement of the robot 1 on the dynamic model, balances with a floor reaction force obtained by correcting the desired floor reaction force by the correction manipulated variable. The desired movement is determined by adjusting a plurality of movement modes having mutually different generation ratios of a floor reaction force's moment and a translation floor reaction force.

Abstract translation: 一种用于腿式移动机器人的控制装置，其中随后基于诸如身体姿势角度的实际状态量之间的误差来确定期望的地板反作用力（所需的地板反作用力的力矩）的校正操作变量， 机器人1和所需的状态量，同时，随后通过使用校正操作变量和动态模型来确定机器人1的所需移动。 此时，将限定机器人1和诸如平移平台反作用力的水平分量的地板之间的摩擦力的摩擦力分量设定为要限制的变量，并且限制变量的允许范围 被设置。 确定期望的运动，使得要限制的变量保持在允许范围内，并且通过机器人1在动态模型上的运动而产生的惯性力和重力的合力与通过校正获得的底板反作用力平衡 通过校正操作变量所需的地面反作用力。 期望的移动通过调整具有相互不同的地板反作用力的力矩和平移平台反作用力的发生率的多个移动模式来确定。

公开(公告)号：US20050055133A1

公开(公告)日：2005-03-10

申请号：US10499516

申请日：2002-12-26

Applicant: Toru Takenaka ,  Takashi Matsumoto ,  Takahide Yoshiike

Inventor： Toru Takenaka ,  Takashi Matsumoto ,  Takahide Yoshiike

IPC: B62D57/02 ,  B62D57/032 ,  G06F19/00

CPC classification number: B62D57/032 ,  B62D57/02

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US5857533A

公开(公告)日：1999-01-12

申请号：US732367

申请日：1996-10-28

Applicant: John Clewett

Inventor： John Clewett

IPC: B62D57/00 ,  B62D57/02

CPC classification number: B62D57/00

Abstract: The invention relates to a device at a vehicle (8) supported and driven by articulated legs (10), the legs (10) comprising a number of leg-segments (1 . . . 7) which are moveably connected to the chassis (9) of the vehicle and to each other by means of joints (11 . . . 17). The two joints located closest to the vehicle are moveable relative to each other about axes, which are perpendicular to each other.

Abstract translation: PCT No.PCT / SE95 / 00478 Sec。 371日期1996年10月28日第 102（e）日期1996年10月28日PCT提交1995年4月28日PCT公布。 WO95 / 29836 PCT公开号 日期：1995年11月9日本发明涉及一种由铰接腿（10）支撑和驱动的车辆（8）上的装置，所述腿部（10）包括多个腿段（1 ... 7），所述腿段可移动地连接 通过接头（11 ... 17）彼此连接到车辆的底盘（9）。 位于最靠近车辆的两个关节围绕彼此垂直的轴可相对于彼此移动。