公开(公告)号：US08386076B2

公开(公告)日：2013-02-26

申请号：US12209444

申请日：2008-09-12

申请人： Daisaku Honda ,  Keisuke Suga ,  Ryosuke Tajima

发明人： Daisaku Honda ,  Keisuke Suga ,  Ryosuke Tajima

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： There is provided a legged robot that performs motion by changing a joint angle, which includes a trajectory generating section to calculate a center-of-gravity trajectory in designated stepping motion from the stepping motion including at least one of walking motion, running motion and stopping motion, and generate a center-of-gravity trajectory by superimposing a designated travel velocity onto a travel velocity of a center of gravity in the calculated center-of-gravity trajectory in stepping motion, and a trajectory updating section to store the generated center-of-gravity trajectory and update all the stored center-of-gravity trajectories so as to be continuous, and a trajectory reproducing section to calculate time-varying data of a target value of the joint angle based on the updated center-of-gravity trajectory, and a joint driving section to rotate a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle.

摘要翻译： 提供了一种通过改变关节角度来执行运动的腿式机器人，其包括轨迹生成部分，用于根据包括步行运动，跑步运动和停止中的至少一个的步进运动来计算指定的步进运动中的重心轨迹 并且通过在指定的行进速度中叠加指定的行进速度到步进运动中所计算的重心轨迹中的重心的行进速度而产生重心轨迹;以及轨迹更新部， 并且更新所有存储的重心轨迹以便连续;以及轨迹再现部分，用于基于更新的重心轨迹计算关节角度的目标值的时变数据 以及联接驱动部，其基于所计算的关节角度的目标值的时变数据来旋转所述腿式机器人的接合部。

公开(公告)号：US08150550B2

公开(公告)日：2012-04-03

申请号：US12439195

申请日：2007-09-06

申请人： Keisuke Suga ,  Daisaku Honda ,  Toru Miyagawa ,  Ryosuke Tajima

发明人： Keisuke Suga ,  Daisaku Honda ,  Toru Miyagawa ,  Ryosuke Tajima

IPC分类号： G05B19/18 ,  G05B15/00 ,  G05B19/00 ,  G06F19/00

CPC分类号： B62D57/032

摘要： A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff and an aerial phase from a takeoff to a landing is provided. The legged robot adjusts the landing timing after a jump in accordance with a planned timing, thereby attaining a smooth landing. A measuring unit of the legged robot measures an actual aerial phase period in a k-th jump cycle. A subtractor calculates a time difference between a target aerial phase period and the actual aerial phase period in the k-th jump cycle. A target velocity determining unit calculates a target vertical velocity of a center of gravity on a takeoff timing in a (k+1)-th jump cycle so as to eliminate the time difference. Motors in respective joints are controlled so as to realize the calculated target vertical velocity in the (k+1)-th jump cycle. As a result, the time difference generated in the k-th jump cycle in the (k+1)-th jump cycle can be compensated, thereby adjusting the landing timing with the planned landing timing, resulting in the jump motion with smooth landing.

摘要翻译： 提供了一种腿式机器人，其重复跳跃循环，包括从起落架到起飞的地面接触阶段，以及从起飞到着陆的空中阶段。 腿式机器人根据计划的时间调整跳跃之后的着陆时间，从而实现平稳的着陆。 腿式机器人的测量单元在第k个跳跃循环中测量实际的空中相位周期。 减法器计算第k个跳跃周期中的目标空中相位周期和实际空中相位周期之间的时间差。 目标速度确定单元计算第（k + 1）个跳跃周期中的起飞时刻的重心的目标垂直速度，以消除时差。 控制各个关节中的电动机，以便在第（k + 1）个跳跃循环中实现所计算的目标垂直速度。 结果，可以补偿在第（k + 1）个跳跃周期中的第k个跳跃周期中产生的时间差，从而利用计划的着陆定时调整着陆时间，导致具有平滑着陆的跳跃运动。

公开(公告)号：US07957835B2

公开(公告)日：2011-06-07

申请号：US11794496

申请日：2006-02-03

申请人： Keisuke Suga ,  Ryosuke Tajima

发明人： Keisuke Suga ,  Ryosuke Tajima

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： Technology is provided that can compute a center of gravity pathway for a robot in which the ZMP matches the target ZMP, even if the robot is caused to perform a crouching movement during a single leg ground phase. The robot of the present invention is a legged robot that moves the center of gravity in the vertical direction when one leg link is grounded by changing joint angles, and comprises means for generating the vertical pathway of the center of gravity, means for computing the horizontal pathway of the center of gravity, based upon the generated vertical pathway of the center of gravity, a tridiagonal equation which is a discretization of a ZMP equation, a target ZMP, and horizontal speeds of the center of gravity at the beginning and the completion of the vertical pathway, means for computing chronological data of target values of the joint angles, based upon the generated vertical pathway and the computed horizontal pathway of the center of gravity, and means for rotating the joints based upon the computed chronological data of the target values of the joint angles.

摘要翻译： 提供了能够计算ZMP与目标ZMP匹配的机器人的重心路径的技术，即使机器人在单腿接地阶段期间执行蹲动运动。 本发明的机器人是一种腿式机器人，当一条腿连杆通过改变关节角度而接地时，它使垂直方向的重心移动，并且包括用于产生重心的垂直路径的装置，用于计算水平面的装置 重心的路径，基于所产生的垂直重心的垂直路径，三对角方程是ZMP方程的离散化，目标ZMP和开始时的重心的水平速度，并且完成 垂直路径，用于基于生成的垂直路径和所计算的重心的水平路径来计算关节角度的目标值的时间顺序数据的装置，以及用于基于所计算的目标值的时间顺序数据来旋转关节的装置 的关节角度。

公开(公告)号：US20100017028A1

公开(公告)日：2010-01-21

申请号：US12439195

申请日：2007-09-06

申请人： Keisuke Suga ,  Daisaku Honda ,  Toru Miyagawa ,  Ryosuke Tajima

发明人： Keisuke Suga ,  Daisaku Honda ,  Toru Miyagawa ,  Ryosuke Tajima

IPC分类号： B25J5/00 ,  B25J13/00

CPC分类号： B62D57/032

摘要： A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff and an aerial phase from a takeoff to a landing is provided. The legged robot adjusts the landing timing after a jump in accordance with a planned timing, thereby attaining a smooth landing. A measuring unit of the legged robot measures an actual aerial phase period in a k-th jump cycle. A subtractor calculates a time difference between a target aerial phase period and the actual aerial phase period in the k-th jump cycle. A target velocity determining unit calculates a target vertical velocity of a center of gravity on a takeoff timing in a (k+1)-th jump cycle so as to eliminate the time difference. Motors in respective joints are controlled so as to realize the calculated target vertical velocity in the (k+1)-th jump cycle. As a result, the time difference generated in the k-th jump cycle in the (k+1)-th jump cycle can be compensated, thereby adjusting the landing timing with the planned landing timing, resulting in the jump motion with smooth landing.

摘要翻译： 提供了一种腿式机器人，其重复跳跃循环，包括从起落架到起飞的地面接触阶段，以及从起飞到着陆的空中阶段。 腿式机器人根据计划的时间调整跳跃之后的着陆时间，从而实现平稳的着陆。 腿式机器人的测量单元在第k个跳跃循环中测量实际的空中相位周期。 减法器计算第k个跳跃周期中的目标空中相位周期和实际空中相位周期之间的时间差。 目标速度确定单元计算第（k + 1）个跳跃周期中的起飞时刻的重心的目标垂直速度，以消除时差。 控制各个关节中的电动机，以便在第（k + 1）个跳跃循环中实现所计算的目标垂直速度。 结果，可以补偿在第（k + 1）个跳跃周期中的第k个跳跃周期中产生的时间差，由此通过计划的着陆定时调整着陆时间，导致具有平滑着陆的跳跃运动。

公开(公告)号：US08340817B2

公开(公告)日：2012-12-25

申请号：US12209422

申请日：2008-09-12

申请人： Daisaku Honda ,  Keisuke Suga ,  Ryosuke Tajima

发明人： Daisaku Honda ,  Keisuke Suga ,  Ryosuke Tajima

IPC分类号： G06F19/00

CPC分类号： B25J5/00

摘要： There is provided a legged robot that performs motion by changing a joint angle, which includes a section of generating a center-of-gravity trajectory of the legged robot based on a trinomial equation obtained by discretizing a ZMP equation and a target ZMP, a section of calculating time-varying data of a target value of the joint angle based on the generated center-of-gravity trajectory, and a section of rotating a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle, wherein the ZMP equation involves an angular momentum according to a center-of-gravity velocity.

摘要翻译： 提供了一种腿式机器人，其通过改变关节角度来执行运动，该关节角度包括基于通过离散ZMP方程和目标ZMP获得的三项式方程式来生成有腿式机器人的重心轨迹的部分， 基于所生成的重心轨迹来计算关节角度的目标值的时变数据，以及基于所计算的所述腿部机器人的目标值的时间变化数据来旋转所述腿式机器人的关节的部分 关节角度，其中ZMP方程涉及根据重心速度的角动量。

公开(公告)号：US20090069940A1

公开(公告)日：2009-03-12

申请号：US12209422

申请日：2008-09-12

申请人： Daisaku Honda ,  Keisuke Suga ,  Ryosuke Tajima

发明人： Daisaku Honda ,  Keisuke Suga ,  Ryosuke Tajima

IPC分类号： G06F19/00

CPC分类号： B25J5/00

摘要： There is provided a legged robot that performs motion by changing a joint angle, which includes a section of generating a center-of-gravity trajectory of the legged robot based on a trinomial equation obtained by discretizing a ZMP equation and a target ZMP, a section of calculating time-varying data of a target value of the joint angle based on the generated center-of-gravity trajectory, and a section of rotating a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle, wherein the ZMP equation involves an angular momentum according to a center-of-gravity velocity.

摘要翻译： 提供了一种腿式机器人，其通过改变关节角度来执行运动，该关节角度包括基于通过离散ZMP方程和目标ZMP获得的三项式方程式来生成有腿式机器人的重心轨迹的部分， 基于所生成的重心轨迹来计算关节角度的目标值的时变数据，以及基于所计算的所述腿部机器人的目标值的时间变化数据来旋转所述腿式机器人的关节的部分 关节角度，其中ZMP方程涉及根据重心速度的角动量。

公开(公告)号：US20090005906A1

公开(公告)日：2009-01-01

申请号：US12087473

申请日：2007-07-17

申请人： Ryosuke Tajima

发明人： Ryosuke Tajima

IPC分类号： B25J13/00

CPC分类号： B62D57/032

摘要： The present invention provides a technique that makes a robot continue a stabilized walk, even when an actual movement state of the robot deviates greatly from a target movement state of the robot. The robot includes a trunk, a pair of leg links coupled with the trunk in a swingable manner, an actuator group that swings each of the leg links independently to the trunk, and a controller that controls the actuator group. The controller is programmed to control the actuator group and realize a given trajectory of the center of gravity and the trajectory of the toe of the leg link. The controller performs, in a period from the robot grounding the one leg link to grounding the other leg link swung out thereafter: updating the trajectory of the center of gravity of the robot after grounding the other leg link, determining a predetermined position for grounding the other leg link, on the basis of an updated trajectory of the center of gravity, and updating the trajectory of the toe of the other leg link till grounding the other leg link, on the basis of a determined predetermined position for grounding.

摘要翻译： 本发明提供一种即使当机器人的实际移动状态从机器人的目标移动状态极大偏离时，也能够使机器人继续行走的技术。 机器人包括躯干，以可摆动的方式与躯干联接的一对腿部连杆，使每个腿部连杆独立于躯干摆动的致动器组以及控制致动器组的控制器。 控制器被编程为控制致动器组，并实现给定的重心轨迹和腿连杆脚趾的轨迹。 所述控制器在从所述机器人将所述一个腿部连杆接地的地方进行接地以后，另一个所述腿部连杆在此之后被摆放：在对另一个所述腿部接头进行接地之后，更新所述机器人的重心的轨迹， 基于更新的重心轨迹，基于确定的接地预定位置，更新另一条腿连杆脚趾的轨迹直到接地另一条腿连杆的其他腿连杆。

公开(公告)号：US08108070B2

公开(公告)日：2012-01-31

申请号：US12087473

申请日：2007-07-17

申请人： Ryosuke Tajima

发明人： Ryosuke Tajima

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： The present invention provides a technique that makes a robot continue a stabilized walk, even when an actual movement state of the robot deviates greatly from a target movement state of the robot. The robot includes a trunk, a pair of leg links coupled with the trunk in a swingable manner, an actuator group that swings each of the leg links independently to the trunk, and a controller that controls the actuator group. The controller is programmed to control the actuator group and realize a given trajectory of the center of gravity and the trajectory of the toe of the leg link. The controller performs, in a period from the robot grounding the one leg link to grounding the other leg link swung out thereafter: updating the trajectory of the center of gravity of the robot after grounding the other leg link, determining a predetermined position for grounding the other leg link, on the basis of an updated trajectory of the center of gravity, and updating the trajectory of the toe of the other leg link till grounding the other leg link, on the basis of a determined predetermined position for grounding.

摘要翻译： 本发明提供一种即使当机器人的实际移动状态从机器人的目标移动状态极大偏离时，也能够使机器人继续行走的技术。 机器人包括躯干，以可摆动的方式与躯干联接的一对腿部连杆，使每个腿部连杆独立于躯干摆动的致动器组以及控制致动器组的控制器。 控制器被编程为控制致动器组，并实现给定的重心轨迹和腿连杆脚趾的轨迹。 所述控制器在从所述机器人将所述一个腿部连杆接地的地方进行接地以后，另一个所述腿部连杆在此之后被摆放：在对另一个所述腿部接头进行接地之后，更新所述机器人的重心的轨迹， 基于更新的重心轨迹，基于确定的接地预定位置，更新另一条腿连杆脚趾的轨迹直到接地另一条腿连杆的其他腿连杆。

公开(公告)号：US20090187275A1

公开(公告)日：2009-07-23

申请号：US11794496

申请日：2006-02-03

申请人： Keisuke Suga ,  Ryosuke Tajima

发明人： Keisuke Suga ,  Ryosuke Tajima

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： Technology is provided that can compute a center of gravity pathway for a robot in which the ZMP matches the target ZMP, even if the robot is caused to perform a crouching movement during a single leg ground phase. The robot of the present invention is a legged robot that moves the center of gravity in the vertical direction when one leg link is grounded by changing joint angles, and comprises means for generating the vertical pathway of the center of gravity, means for computing the horizontal pathway of the center of gravity, based upon the generated vertical pathway of the center of gravity, a tridiagonal equation which is a discretization of a ZMP equation, a target ZMP, and horizontal speeds of the center of gravity at the beginning and the completion of the vertical pathway, means for computing chronological data of target values of the joint angles, based upon the generated vertical pathway and the computed horizontal pathway of the center of gravity, and means for rotating the joints based upon the computed chronological data of the target values of the joint angles.

摘要翻译： 提供了能够计算ZMP与目标ZMP匹配的机器人的重心路径的技术，即使机器人在单腿接地阶段期间执行蹲动运动。 本发明的机器人是一种腿式机器人，当一条腿连杆通过改变关节角度而接地时，它使垂直方向的重心移动，并且包括用于产生重心的垂直路径的装置，用于计算水平面的装置 重心的路径，基于所产生的垂直重心的垂直路径，三对角方程是ZMP方程的离散化，目标ZMP和开始时的重心的水平速度，并且完成 垂直路径，用于基于生成的垂直路径和所计算的重心的水平路径来计算关节角度的目标值的时间顺序数据的装置，以及用于基于所计算的目标值的时间顺序数据来旋转关节的装置 的关节角度。

公开(公告)号：US20090069941A1

公开(公告)日：2009-03-12

申请号：US12209444

申请日：2008-09-12

申请人： Daisaku Honda ,  Keisuke Suga ,  Ryosuke Tajima

发明人： Daisaku Honda ,  Keisuke Suga ,  Ryosuke Tajima

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： There is provided a legged robot that performs motion by changing a joint angle, which includes a trajectory generating section to calculate a center-of-gravity trajectory in designated stepping motion from the stepping motion including at least one of walking motion, running motion and stopping motion, and generate a center-of-gravity trajectory by superimposing a designated travel velocity onto a travel velocity of a center of gravity in the calculated center-of-gravity trajectory in stepping motion, and a trajectory updating section to store the generated center-of-gravity trajectory and update all the stored center-of-gravity trajectories so as to be continuous, and a trajectory reproducing section to calculate time-varying data of a target value of the joint angle based on the updated center-of-gravity trajectory, and a joint driving section to rotate a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle.

摘要翻译： 提供了一种通过改变关节角度来执行运动的腿式机器人，其包括轨迹生成部分，用于根据包括步行运动，跑步运动和停止中的至少一个的步进运动来计算指定的步进运动中的重心轨迹 并且通过在指定的行进速度中叠加指定的行进速度到步进运动中所计算的重心轨迹中的重心的行进速度而产生重心轨迹;以及轨迹更新部， 并且更新所有存储的重心轨迹以便连续;以及轨迹再现部分，用于基于更新的重心轨迹计算关节角度的目标值的时变数据 以及联接驱动部，其基于所计算的关节角度的目标值的时变数据来旋转所述腿式机器人的接合部。