公开(公告)号：US5201630A

公开(公告)日：1993-04-13

申请号：US707933

申请日：1991-05-28

Applicant: Tatsuzo Ishida ,  Kazuhito Hori ,  Sigeru Nakamura

Inventor： Tatsuzo Ishida ,  Kazuhito Hori ,  Sigeru Nakamura

IPC: B25J9/04 ,  B25J9/10 ,  B41M5/24 ,  G05B19/416

CPC classification number: B25J9/044 ,  B25J9/042 ,  B25J9/1025 ,  B25J9/104 ,  B41M5/245 ,  G05B19/4166 ,  G05B2219/39466 ,  G05B2219/43152 ,  G05B2219/45083

Abstract: An industrial robot has a servo system allowing higher-speed robot operation than in conventional robots. The servo system includes a movable arm or arms pivotable about a pivot axis or axes and/or movable along an axis or axes. The servo system includes at least one movable arm pivotal about a vertical axis and associated with a servo motor for angular displacement within a substantially horizontal plane. A servo motor for driving the horizontally pivotable movable arm is mounted on a base frame of the robot. By mounting the servo motor on the base frame, the load on the movable arm can be reduced significantly so as to allow the movable arm to be operated at higher speeds. The servo system includes a controller adapted to control robot operation. The controller is programmed to actuate the working end of the robot arm along a predetermined non-linear trace, in which an acceleration zone is defined inthe vicinity of an initial position of the working end and a deceleration zone is defined in the vicinity of the predetermined working position and a relatively longer constant speed zone is defined between the acceleration zone and the deceleration zone.

Abstract translation: 工业机器人具有比常规机器人更高速度的机器人操作的伺服系统。 伺服系统包括可绕枢转轴线或轴线枢转的可移动臂或臂，和/或可沿轴线或轴线移动。 该伺服系统包括至少一个围绕垂直轴线枢转并与用于在基本上水平的平面内进行角位移的伺服电机相关联的可移动臂。 用于驱动水平可枢转的可动臂的伺服电动机安装在机器人的基架上。 通过将伺服电机安装在基架上，可以显着地减小可动臂上的负载，以使可动臂以更高的速度运转。 伺服系统包括适于控制机器人操作的控制器。 控制器被编程为沿着预定的非线性轨迹致动机器人手臂的工作端，其中加速区被界定在工作端的初始位置附近，并且减速区被限定在预定的附近 在加速区域和减速区域之间定义工作位置和相对较长的恒定速度区域。

公开(公告)号：US06898485B2

公开(公告)日：2005-05-24

申请号：US10181500

申请日：2001-11-16

Applicant: Yoshihiro Kuroki ,  Tatsuzo Ishida ,  Jinichi Yamaguchi

Inventor： Yoshihiro Kuroki ,  Tatsuzo Ishida ,  Jinichi Yamaguchi

IPC: B25J9/18 ,  B62D57/032 ,  G06N3/00 ,  G05B19/00

CPC classification number: G06N3/008 ,  B62D57/032

Abstract: A robot to operate accurately while canceling an affect of pitch-axis, roll-axis, and yaw-axis moments, these moments being applied on the robot body during a leg-moving operation such as walking. First, by calculating a pitch-axis moment and/or a roll-axis moment generated on the robot body at a preset ZMP by set motions of upper limbs, a trunk, and lower limbs, motions of the lower limbs and the trunk for canceling the pitch-axis moment and/or the roll-axis moment are obtained. Then, by calculating a yaw-axis moment generated on the robot body lying at the preset ZMP by the calculated motions of the lower limbs and the trunk, a motion of the upper limbs for canceling the yaw-axis moment is obtained.

Abstract translation: 机器人在消除俯仰轴，滚轴和偏航轴力矩的影响的同时精确地操作，这些力矩在诸如行走的腿部运动操作期间施加在机器人体上。 首先，通过上下肢，躯干和下肢的设定运动，通过计算在机器人身体上以预设的ZMP产生的俯仰轴力矩和/或滚动轴力矩，下肢和躯干的运动用于取消 获得俯仰轴力矩和/或滚动轴力矩。 然后，通过计算通过计算出的下肢和躯干的运动而在机器人身上产生的偏航轴力矩，计算出所述下肢和躯干的运动，得到用于抵消偏航轴力矩的上肢运动。

公开(公告)号：US06697709B2

公开(公告)日：2004-02-24

申请号：US10196431

申请日：2002-07-15

Applicant: Yoshihiro Kuroki ,  Tatsuzo Ishida ,  Jinichi Yamaguchi

Inventor： Yoshihiro Kuroki ,  Tatsuzo Ishida ,  Jinichi Yamaguchi

IPC: G06F1900

CPC classification number: B62D57/032

Abstract: The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method if it is lost in the course of a gesture for which the upper limbs take a major role. The apparatus and the method obtain the pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, the trajectory of the ZMP, the pattern of movement of the trunk and that of the upper limbs. Therefore, a robot can determine the gait of the lower limbs so as to realize a stable walk regardless if the robot is standing upright or walking. Particularly, if the robot is made to gesture, using the upper body half including the upper limbs and the trunk while standing upright, it can determine the gait of the lower limbs so as to make a stable walk in response to such a gait of the upper body half.

Abstract translation: 如果在上肢起主要作用的手势的过程中丢失了行走控制装置和行走控制方法，则机器人姿态的稳定性可以恢复。 该装置和方法通过从脚的运动的任意选择的模式，ZMP的轨迹，躯干的运动模式和从躯体的移动模式获得腰部的移动模式来获得整个身体的行走模式 上肢的。 因此，机器人可以确定下肢的步态，以便实现稳定的行走，无论机器人站立直立还是步行。 特别地，如果使机器人手势，使用包括上肢和躯干在内的上半身直立，则可以确定下肢的步态，以便响应于这样的步态 上半身

公开(公告)号：US06529802B1

公开(公告)日：2003-03-04

申请号：US09719127

申请日：2001-03-02

Applicant: Kozo Kawakita ,  Tadashi Ohtsuki ,  Yoshihiro Kuroki ,  Tetsuya Kagami ,  Tatsuzo Ishida

Inventor： Kozo Kawakita ,  Tadashi Ohtsuki ,  Yoshihiro Kuroki ,  Tetsuya Kagami ,  Tatsuzo Ishida

IPC: G06F1900

CPC classification number: B25J19/021 ,  H04M1/725

Abstract: A robot provides a communicating means to move based on the transmission and reception of information to/from the outside, thereby making it possible to realize a robot with high usability. In addition, it recognizes the user's condition based on sensors provided around a user and outputs a response message according to the recognition. Thus, an information processing system which is very helpful can be realized.

Abstract translation: 机器人基于向外部的信息的发送和接收来提供通信装置，从而能够实现高可用性的机器人。 另外，它根据用户周围的传感器识别用户的状况，并根据识别输出响应消息。 因此，可以实现非常有用的信息处理系统。

公开(公告)号：US07076337B2

公开(公告)日：2006-07-11

申请号：US10637890

申请日：2003-08-08

Applicant: Yoshihiro Kuroki ,  Tatsuzo Ishida ,  Jinichi Yamaguchi

Inventor： Yoshihiro Kuroki ,  Tatsuzo Ishida ,  Jinichi Yamaguchi

IPC: G06F19/00

CPC classification number: B62D57/032

Abstract: The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method if it is lost in the course of a gesture for which the upper limbs take a major role. The apparatus and the method obtain the pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, the trajectory of the ZMP, the pattern of movement of the trunk and that of the upper limbs. Therefore, a robot can determine the gait of the lower limbs so as to realize a stable walk regardless if the robot is standing upright or walking. Particularly, if the robot is made to gesture, using the upper body half including the upper limbs and the trunk while standing upright, it can determine the gait of the lower limbs so as to make a stable walk in response to such a gait of the upper body half.

Abstract translation: 如果在上肢起主要作用的手势的过程中丢失了行走控制装置和行走控制方法，则机器人姿态的稳定性可以恢复。 该装置和方法通过从脚的运动的任意选择的模式，ZMP的轨迹，躯干的运动模式和从躯体的移动模式获得腰部的移动模式来获得整个身体的行走模式 上肢的。 因此，机器人可以确定下肢的步态，以便实现稳定的行走，无论机器人站立直立还是步行。 特别地，如果使机器人手势，使用包括上肢和躯干在内的上半身直立，则可以确定下肢的步态，以便响应于这样的步态 上半身

公开(公告)号：US20050177277A1

公开(公告)日：2005-08-11

申请号：US10637890

申请日：2003-08-08

Applicant: Yoshihiro Kuroki ,  Tatsuzo Ishida ,  Jinichi Yamaguchi

Inventor： Yoshihiro Kuroki ,  Tatsuzo Ishida ,  Jinichi Yamaguchi

IPC: A63H11/00 ,  B25J5/00 ,  B25J9/16 ,  B25J13/00 ,  B62D57/032 ,  G06F19/00

CPC classification number: B62D57/032

Abstract: The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method if it is lost in the course of a gesture for which the upper limbs take a major role. The apparatus and the method obtain the pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, the trajectory of the ZMP, the pattern of movement of the trunk and that of the upper limbs. Therefore, a robot can determine the gait of the lower limbs so as to realize a stable walk regardless if the robot is standing upright or walking. Particularly, if the robot is made to gesture, using the upper body half including the upper limbs and the trunk while standing upright, it can determine the gait of the lower limbs so as to make a stable walk in response to such a gait of the upper body half.

Abstract translation: 如果在上肢起主要作用的手势的过程中丢失了行走控制装置和行走控制方法，则机器人姿态的稳定性可以恢复。 该装置和方法通过从脚的运动的任意选择的模式，ZMP的轨迹，躯干的运动模式和从躯体的移动模式获得腰部的移动模式来获得整个身体的行走模式 上肢的。 因此，机器人可以确定下肢的步态，以便实现稳定的行走，无论机器人站立直立还是步行。 特别地，如果使机器人手势，使用包括上肢和躯干在内的上半身直立，则可以确定下肢的步态，以便响应于这样的步态 上半身

公开(公告)号：US06917175B2

公开(公告)日：2005-07-12

申请号：US10413880

申请日：2003-04-15

Applicant: Yuichi Hattori ,  Yoshihiro Kuroki ,  Tatsuzo Ishida ,  Junichi Yamaguchi

Inventor： Yuichi Hattori ,  Yoshihiro Kuroki ,  Tatsuzo Ishida ,  Junichi Yamaguchi

IPC: B25J5/00 ,  B25J17/00 ,  B62D57/032 ,  G05B19/10

CPC classification number: B62D57/032

Abstract: A humanoid robot including upper limbs, lower limbs, and a trunk. Hip joints which connect the lower limbs and the trunk each possess degrees of freedom provided in correspondence with a hip joint yaw axis, a hip joint roll axis, and a hip joint pitch axis. The humanoid robot is a leg-movement-type robot which walks on two feet. By arbitrarily offsetting the hip joint yaw axes in a roll axis direction, the effects of the movement of the center of gravity occurring when the mode of use of the robot is changed are accommodated to in order to flexibly balance the weights of the upper and lower limbs. The waist is made more compact in order to form a humanoid robot which is well proportioned and which makes it possible to prevent interference between the left and right feet when the direction of a foot is changed. Accordingly, a robot which moves naturally and in a way sufficiently indicative of emotions and feelings using fewer degrees of freedom is provided.

Abstract translation: 人形机器人包括上肢，下肢和躯干。 连接下肢和躯干的髋关节各自具有与髋关节偏转轴，髋关节摇摆轴和髋关节俯仰轴对应地提供的自由度。 人形机器人是一条腿运动型机器人，两脚走路。 通过在侧倾轴方向任意地偏移髋关节偏转轴，容纳了当机器人的使用模式改变时发生的重心运动的影响，以便灵活地平衡上下两者的重量 四肢 使腰部变得更紧凑，以形成良好比例的类人形机器人，并且可以防止当脚的方向改变时左脚和右脚之间的干扰。 因此，提供了使用更少的自由度自然而且以足够的表示情绪和感觉的方式移动的机器人。

公开(公告)号：US06463356B1

公开(公告)日：2002-10-08

申请号：US09718629

申请日：2000-11-22

Applicant: Yuichi Hattori ,  Tatsuzo Ishida

Inventor： Yuichi Hattori ,  Tatsuzo Ishida

IPC: G06F1900

CPC classification number: B62D57/032

Abstract: A legged mobile robot possesses degrees of freedom which are provided at roll, pitch, and yaw axes at a trunk. By using these degrees of freedom which are provided at the trunk, the robot can smoothly get up from any fallen-down posture. In addition, by reducing the required torque and load on movable portions other than the trunk, and by spreading/averaging out the load between each of the movable portions, concentration of a load on a particular member is prevented from occurring. As a result, the robot is operated more reliably, and energy is used with greater efficiency during a getting-up operation. Therefore, it is possible for the robot to independently, reliably, and smoothly get up from various fallen-down postures such as a lying-on-the-face posture, a lying-on-the-back posture, and a lying sideways posture.

Abstract translation: 有腿的移动机器人具有在躯干处的辊，俯仰和偏航轴处提供的自由度。 通过使用在躯干处提供的这些自由度，机器人可以从任何跌倒的姿势平稳地起床。 此外，通过减少除了躯干以外的可动部分上的所需扭矩和负载，并且通过扩展/平均每个可移动部分之间的负载，防止了对特定部件上的负载的集中。 结果，机器人操作更可靠，并且在起床操作期间以更高的效率使用能量。 因此，机器人能够独立，可靠，平稳地从各种倒下的姿势起床，例如躺在脸上的姿势，躺着的姿势和躺着的侧身姿势 。

公开(公告)号：USD453199S1

公开(公告)日：2002-01-29

申请号：US29145083

申请日：2001-07-17

Applicant: Kunihito Sawai ,  Tatsuzo Ishida ,  Yoshihiro Kuroki ,  Yuichi Hattori ,  Naoto Mori

Designer： Kunihito Sawai ,  Tatsuzo Ishida ,  Yoshihiro Kuroki ,  Yuichi Hattori ,  Naoto Mori

公开(公告)号：US07076338B2

公开(公告)日：2006-07-11

申请号：US10919172

申请日：2004-08-16

Applicant: Yoshihiro Kuroki ,  Tatsuzo Ishida ,  Jinichi Yamaguchi

Inventor： Yoshihiro Kuroki ,  Tatsuzo Ishida ,  Jinichi Yamaguchi

IPC: G06F19/00

CPC classification number: B62D57/02 ,  B62D57/032

Abstract: A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. Motion natterns of a robot including walking are classified into motion units, each motion unit servins as a unit of motion, and one or more motion units are combined to generate various complex motions. Dynamic motion units are defined on the basis of basic dynamic attitudes, and a desired action sequence can be generated by using the dynamic motion units. This is a basic control method necessary for a robot to autonomously perform a continuous motion, a series of continuous motions, or motions which are chanaed in real-time by commands.

Abstract translation: 通过使用包括每个关节的时间顺序运动和组合基本运动单元的复合运动单元的基本运动单元来产生预定动作序列。 包括步行在内的机器人的运动状态被分为运动单元，每个运动单元作为运动单元进行运动，并且组合一个或多个运动单元以产生各种复杂运动。 动态运动单元是基于基本动态态度来定义的，并且可以通过使用动态运动单元来产生期望的动作序列。 这是机器人自主执行连续运动，一系列连续运动或运动的基本控制方法，这些运动通过命令实时地实现。