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484 results about "Legged robot" patented technology
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Legged robots are a type of mobile robot, which use articulated limbs, such as leg mechanisms, to provide locomotion. They are more versatile than wheeled robots and can traverse many different terrains, though these advantages require increased complexity and power consumption. Legged robots often imitate legged animals, such as humans or insects, in an example of biomimicry.
In-Line Legged Robot Vehicle and Method for Operating
ActiveUS20110231050A1Improve mobilityReduce body motionProgramme-controlled manipulatorInstruments for road network navigationControl systemLegged robot
A legged vehicle includes a body, wherein the body includes a major axis corresponding to a primary direction of travel; a plurality of leg mechanisms attached to the body, wherein each leg is attached at its proximal end at one or more discrete attachment points, wherein the attachment points are arranged in-line, one behind the other, with respect to the body, each of the legs including actuators attached between the legs and the body and between adjacent leg members, said legs being actuated for movement of a distal end in three dimensions; a control system in communication with the leg mechanisms to coordinate movements of the leg mechanisms according to approximately single track foot placement, and movement of the legged vehicle in three dimensions over the ground; and a power source connected to and driving the control system components and the plurality of actuators and joints which drive the legs.
Owner:GOULDING JOHN R
Hardware abstraction layer for a robot
InactiveUS6889118B2Reduced portabilityEfficiently permittingProgramme-controlled manipulatorAutonomous decision making processAbstraction layerOperational system
Owner:IROBOT CORP
In-line legged robot vehicle and method for operating
ActiveUS8457830B2Improve mobilityReduce relative motionProgramme-controlled manipulatorInstruments for road network navigationControl systemTrackway
Owner:GOULDING JOHN R
Combined type bionic quadruped robot controller
InactiveCN102637036AIntegrity guaranteedImprove adaptabilityPosition/course control in two dimensionsOperational systemNervous system
The invention relates to a combined type bionic quadruped robot controller, which is in a structure similar to a vertebrate nervous system, wherein the controller is divided into a decision layer, a planning layer and an execution layer which respectively correspond to a higher nervous center, a lower nervous center and a motor nerve of an animal. The decision layer for realizing that the robot senses the working environment and generates corresponding motion decision instructions consists of an ARM9 (advanced RISC (reduced instruction-set computer) machine 9) and an environmental information acquisition system, and a real-time operating system is embedded in the ARM9. The core of the planning layer is a walking pattern generator, and is used for planning and solving the motion parameters of each joint according to the decision instructions from the upper layer. The execution layer for controlling the current, the position and the speed of a driving motor in three closed loops consists of a motor controller using a digital signal processor as the core. Data can be effectively transmitted among the three layers in real time through a dual-port RAM (random-access memory) and a CAN (controller area network) bus network. The combined type bionic quadruped robot controller disclosed by the invention has the characteristics of high reliability, high flexibility, extension easiness and maintenance easiness, and has a broad application prospect in the technical field of bionic legged robots.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Legged robot, legged robot behavior control method, and storage medium
To provide a robot which autonomously forms and performs an action plan in response to external factors without direct command input from an operator. When reading a story printed in a book or other print media or recorded in recording media or when reading a story downloaded through a network, the robot does not simply read every single word as it is written. Instead, the robot uses external factors, such as a change of time, a change of season, or a change in a user's mood, and dynamically alters the story as long as the changed contents are substantially the same as the original contents. As a result, the robot can read aloud the story whose contents would differ every time the story is read.
Owner:SONY CORP
Legged robot and control method of legged robot
InactiveUS20100126785A1Efficiently obtainedKeep in touchProgramme controlComputer controlDescent directionLegged robot
A legged robot includes: a body; a leg portion; a foot portion; a falling direction detection unit that detects a falling direction of the body; a control unit; and a distance detection unit that detects a distance between a sole of the foot portion and a road surface. The distance detection unit includes at least three distance sensors provided on the sole, and the control unit includes distance sensor selecting means for selecting a distance sensor and gait data correcting means for correcting gait data based on a detection signal from the distance sensor selected by the distance sensor selecting means. The distance sensor selecting means selects three distance sensors among the distance sensors based on a detection result of the falling direction detection unit.
Owner:TOYOTA JIDOSHA KK
Control system and related method for multi-limbed, multi-legged robot
Owner:NORTH SOUTH HLDG
Systems and methods for controlling a legged robot based on rate of change of angular momentum
ActiveUS8060253B2Improve balanceMaintain and improve its balanceComputer controlSimulator controlMomentumControl system
Owner:THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIV +1
Reversible and amphibious multi-legged robot with variable postures
InactiveCN101570220AWith posture adjustment functionHigh inertiaSelf-moving toy figuresMechanical energy handlingTime changesClosed loop
The invention provides a reversible and amphibious multi-legged robot with variable postures. The robot comprises three parts, i.e. a body bracket, a one-way input and vertical output module and a leg mechanism, wherein the one-way input and vertical output module is installed on the body bracket, and the leg mechanism is installed on the one-way input and vertical output module. The reversible and amphibious multi-legged robot with variable postures of the invention is formed by the parallel connection of a plurality of walking legs, and by controlling a posture adjustment motor, the real-time change of the standing and moving postures of the robot can be realized, thereby improving the capability of adapting to the complex amphibian environment; and each walking leg is formed by the serial connection of the one-way input and vertical output module and the leg mechanism. A tridimensional force sensor is installed at the leg end and is used for feeding back the stress of the leg end during movement, so as to realize the closed loop control of the stress of each leg of the robot.
Owner:HARBIN ENG UNIV
Hardware abstraction layer (HAL) for a robot
InactiveUS20050021186A1Reduced portabilityEfficiently permittingProgramme-controlled manipulatorAutonomous decision making processAbstraction layerOperational system
Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and / or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.
Owner:IROBOT CORP
Systems and methods for controlling a legged robot based on rate of change of angular momentum
ActiveUS20050234593A1Maintain and improve its balanceImprove balanceComputer controlSimulator controlMomentumControl system
Systems and methods are presented that use the rate of change of a legged robot's centroidal angular momentum ({dot over (H)}G) in order to maintain or improve the robot's balance. In one embodiment, a control system determines the current value of {dot over (H)}G, compares this value to a threshold value, and determines an instruction to send to the robot. Executing the instruction causes the robot to remain stable or become more stable. Systems and methods are also presented that use a value derived from {dot over (H)}G in order to maintain or improve the robot's balance. In one embodiment, a control system determines the location of the Zero Rate of change of Angular Momentum (ZRAM) point (A), determines the distance between A and the location of the center of pressure of the resultant ground force, compares this value to a threshold value, and determines an instruction to send to the robot.
Owner:THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIV +1
Legged robot
InactiveUS20100017028A1Exclude influenceGuaranteed uptimeComputer controlSimulator controlGround contactProgram planning
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.
Owner:TOYOTA JIDOSHA KK
Legged robot and its control method
InactiveUS8386076B2Generate flexibleEasy to createProgramme-controlled manipulatorComputer controlLegged robotEngineering
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.
Owner:TOYOTA JIDOSHA KK
Determination of foot placement for humanoid push recovery
InactiveUS7949430B2Programme-controlled manipulatorProgramme control in sequence/logic controllersLegged robotEngineering
Owner:FLORIDA INST FOR HUMAN & MACHINE COGNITION +1
Amphibious robotic device
A control system for a robotic device maneuverable in at least a liquid medium, the system having at least one visual sensor retrieving an image of the device's environment, an image analyzing module receiving the image, determining a presence of an object of a given type therein and analyzing at least one property of the object, a motion calculator determining a desired motion of the device based on the property, and a controller operating a propulsion system of the device to obtain the desired motion. Also, a legged robotic device having a control system including at least one sensor providing data about an environment of the device, the control system using sensor data to determine a desired motion of the device, determining a corresponding required leg motion of each of the legs to produce the desired motion and actuating the legs in accordance with the corresponding required leg motion.
Owner:MCGILL UNIV
Systems and methods for controlling a legged robot using a two-phase disturbance response strategy
ActiveUS20060241809A1Maximize energyHigh energyProgramme-controlled manipulatorComputer controlMomentumControl system
Systems and methods are presented that enable a legged robot to maintain its balance when subjected to an unexpected force. In the reflex phase, the robot withstands the immediate effect of the force by yielding to it. In one embodiment, during the reflex phase, the control system determines an instruction that will cause the robot to perform a movement that generates a negative rate of change of the robot's angular momentum at its centroid in a magnitude large enough to compensate for the destabilizing effect of the force. In the recovery phase, the robot recovers its posture after having moved during the reflex phase. In one embodiment, the robot returns to a statically stable upright posture that maximizes the robot's potential energy. In one embodiment, during the recovery phase, the control system determines an instruction that will cause the robot to perform a movement that increases its potential energy.
Owner:THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIV +1
Dynamic legged robot
A legged robot having a robot structure (20) in the form of a closed kinematic chain and an actuator (26) that contracts when activated. The contraction of the actuator extends a foot element (30) such that it can excerpt a pushing force against a ground surface. When the foot element excerpts sufficient force the legged robot can separate from the ground surface and achieve a dynamic hopping motion.
Owner:RGT UNIV OF CALIFORNIA
Control system and related method for multi-limbed, multi-legged robot
A robot body includes a front half and rear half and a rotatable and driven articulating joint interconnecting the front half and rear half. Multi-limbed legs extend from the robot body and are adapted to engage a ground surface to form a support polygon for each half and for the robot body. A controller is operative with each leg for determining the position and orientation of the robot body with respect to a support polygon, mapping the posture of the robot body with respect to the ground surface via the articulating joint, and determining a direction and magnitude of locomotion and translating a trajectory of locomotion to specific limb motions for each leg.
Owner:NORTH SOUTH HLDG
Wheel-legged robot chassis suspension device
The invention relates to a wheel-legged robot chassis suspension device. The wheel-legged robot chassis suspension device comprises a wheel type moving driving mechanism, a wheel type moving mechanism, a leg type traveling mechanism, a leg type traveling driving mechanism and a steering mechanism; the wheel type moving mechanism and the leg type traveling mechanism share three pairs of wheels, each wheel is respectively connected with the wheel type moving mechanism and the leg type traveling mechanism through a tire steering base arranged on the corresponding wheel, an angle sensor is arranged on the upper side of a hub of each wheel, and the phase difference between the angle sensors installed on every two adjacent hubs is 180 degrees; the wheel type moving driving mechanism and the leg type traveling driving mechanism are independent from each other and arranged at the two ends of a wheel-legged robot chassis respectively. Compared with the prior art, the wheel-legged robot chassis suspension device combines a leg type mechanism and a wheel type mechanism, integrates the advantages of the leg type mechanism and the wheel type mechanism, is good in obstacle crossing performance, adaptability and stability, achieves a cushioning effect, and does not need to be adjusted by means of an addition control mechanism; the leg type mechanism and the wheel type mechanism coordinate to work together, the speed is high, maneuverability is good, and control is simple.
Owner:PLA SECOND ARTILLERY ENGINEERING UNIVERSITY
Leg mechanism for four-legged robots
The invention relates to a leg mechanism for four-legged robots, the leg mechanism comprises a drive motor, a femur mechanism, a knee-joint hinge, a tibia mechanism, a naked joint hinge and a metatarsus mechanism, wherein the femur mechanism is hinged with the tibia mechanism by the knee-joint hinge; the drive motor is fixed on the femur mechanism, and an output shaft of the drive motor drives the tibia mechanism to rotate by a bevel gear transmission mechanism in the knee-joint hinge; the tibia mechanism is hinged with the metatarsus mechanism by the naked joint hinge; and the drive motor drives the metatarsus mechanism to rotate by the bevel gear transmission mechanism in the knee-joint hinge and a bevel gear transmission mechanism in the naked joint hinge. In the invention, the number of joints of a leg structure is increased under the condition of not increasing the degree of freedom, so that the leg movement of the robot is more flexible, and the leg mechanism has the advantage of better movement performance.
Owner:SHANGHAI UNIV
Legged Robot and Control Method Thereof
InactiveUS20090187275A1Stable robot postureReduce impactProgramme-controlled manipulatorSpecial data processing applicationsLegged robotEngineering
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.
Owner:TOYOTA JIDOSHA KK
Legged robot and control method of legged robot
InactiveUS8172013B2Efficiently obtainedKeep in touchProgramme controlComputer controlDescent directionDistance detection
Owner:TOYOTA JIDOSHA KK
Determination of Foot Placement for Humanoid Push Recovery
InactiveUS20080133053A1Maintain balanceProgramme-controlled manipulatorComputer controlLegged robotMoment of inertia
A legged robot subjected to a force is controlled by determining an instantaneous capture point where the robot will step with a swing leg to reach a balanced home position, the balanced home position being a state in which the Center of Mass remains substantially over the Center of Pressure and the robot is able to maintain its balance indefinitely. The capture point can be determined using a Linear Inverted Pendulum Plus Flywheel (LIPPF) model of the robot. The LIPPF model includes a flywheel with a mass and a rotational inertia, and a variable length leg link. A torque profile is applied to the flywheel and a set of capture points is determined based on this torque profile An experimentally determined error value can be added to a capture point that is determined based on the model to account for differences between an actual robot and the model.
Owner:FLORIDA INST FOR HUMAN & MACHINE COGNITION +1
Wheel-legged robot leg structure and mobile robot
The invention provides a wheel-legged robot leg structure which comprises wheels, a shank connecting rod, a buffer energy storage spring, a thigh connecting rod, a shank driving motor, a thigh drivingmotor and a first shank transmission connecting rod. The thigh driving motor and the shank driving motor can rotate independently and drive the thigh connecting rod and the first shank transmission connecting rod to rotate respectively; and when the wheel impacts the ground, an included angle between the shank connecting rod and the thigh connecting rod is reduced, and the buffer energy storage spring can reduce an impact load transmitted to the thigh driving motor and the shank driving motor. By the adoption of the buffer energy storage spring in a parallel connection mode, impact on the motors when a foot end makes contact with the ground is reduced, energy can be stored, a peak torque of the driving motor is effectively reduced, the number of the motors needed by the adopted leg configuration is small, a working space is large, and the structure can walk in a complex terrain environment; and the structure has advantages of light weight and a small moment of inertia.
Owner:SHANGHAI JIAO TONG UNIV
Amphibious multi-legged robot with metamorphic mechanical legs
ActiveCN105946483AAutomatically realize free switchingImprove structural strengthAmphibious vehiclesLegged robotEngineering
The invention discloses an amphibious multi-legged robot with metamorphic mechanical legs. The robot comprises a body and at least two metamorphic mechanical legs parallelly arranged on both sides of the body. Each metamorphic mechanical leg comprises a base in transmission matching with a power component, and an elastic leg body connected with the base, and the initial form of each elastic leg body is straight; each metamorphic mechanical leg also comprises a metamorphic driving mechanism used for making the corresponding elastic leg body to be metamorphosed to form an arc-shaped form; the mechanical legs can automatically perform free switching between the straight form and the arc-shaped form, thus manual intervention required when the robot employing the mechanical leg conducts switching in the amphibious operation mode is avoided, the elastic leg bodies are straight under the natural initial state, the elastic leg bodies are driven by the metamorphic driving mechanism to be switched into the arc-shaped form when needed, rapid switching can be realized, and convenience and rapidness are realized; the legs do not need to be changed manually when the robot conducts switching in the amphibious mode, thereby being more convenient, furthermore, the metamorphic driving mechanisms can improve the structure strength of the elastic leg bodies, and thus the land obstacle ability is improved.
Owner:CHONGQING UNIV
Leg structure of legged robot
The invention discloses a leg structure of a legged robot. The leg structure comprises a supporting mechanism and a pull rod mechanism; the supporting mechanism comprises an upper leg support, a middle leg support and a lower leg support; the pull rod mechanism comprises an upper pull rod and a lower pull rod; the lower leg support is rotatably connected with the middle leg support; the middle leg support is rotatably connected with the upper leg support; one end of the lower pull rod is rotatably connected with the upper leg support; the other end of the lower pull rod is rotatably connected with the lower leg support; the lower pull rod, the upper leg support, the lower leg support and the middle leg support form a parallelogram structure; one end of the upper pull rod is rotatably connected with the middle leg support, while the other end of the upper pull rod is connected with a reduction gear in a hip joint motor of a legged robot body. The power of the whole mechanism of the leg structure is provided by a hip joint, and a knee joint and an ankle joint do not contain a power source; the whole leg structure is light so that an extremely high speed of movement can be obtained; a connecting rod mechanism is capable of simplifying control on the whole leg.
Owner:NANJIANG ROBOT
Design of wheel leg type moving foot of multi-joint chain link type robot
The invention relates to a design of a wheel leg type moving foot of a multi-joint chain link type robot based on modularization. In system composition, the moving foot and a robot body are in an open chain structure relationship and totally have five active degrees of freedom, and each active degree of freedom can be completed by the driving of a steering engine or direct current servo motor. In structural design, the moving foot is in a crank arm structure, and is provided with four rotational joints and one wheel foot. By the front crank arm and rear crank arm of the leg and the wheel type design of the moving foot, the multi-joint chain link type robot has the advantages of good geography adaptability of a leg-type robot and strong mobility of a wheel-type robot, and a landing end of the moving foot can be landed in any position in a three-dimensional space of a reachable area of the moving foot. By a bevel gear at the end part of a moving output shaft of the steering engine, radial load directly borne by a motor can be avoided, and the service life of the motor is prolonged. By the special curvature design of a bearing small wheel at the bottom of the moving foot, the bending angle of the leg when the robot moves laterally horizontally just makes the landing point of the small wheel tangential with the ground so as to realize efficient gait walking.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Quantitative determination method for dynamic stability of multi-legged robot based on leg force estimation algorithm
InactiveCN106547206AReduce angleThe judgment method is concise and clearAdaptive controlVehiclesRolloverEngineering
The invention provides a quantitative determination method for the dynamic stability of a multi-legged robot based on a leg force estimation algorithm, which is applicable to real-time detection for the stability of the robot when walking in an unstructured environment. The quantitative determination method is characterized in that motion states of joints and the robot body are acquired by a sensor, and variable values required by calculating the stability margin is solved through obverse and inverse kinematics; then the leg force of each supporting leg is estimated through the leg force estimation algorithm, and a supporting shaft and a landing point at which rollover occurs most easily are acquired according to the leg forces; a resultant force which is effective to rollover of the supporting shaft and the landing point is calculated according to a resultant force of the leg forces at the mass center and the moment of the resultant force, thus stability angles of the supporting shaft and the landing point can be acquired according to a formula, and a minimum stability angle is selected so as to calculate to acquire a normalized force angle stability margin value of the robot according to a formula. The advantages lie in that the method provided by the invention directly judges the stability margin for the supporting shaft and the landing point; stability variations brought about by the height of the mass center can be represented; and a vulnerable multi-dimensional force sensor is not required to be adopted to measure the leg force.
Owner:CENT SOUTH UNIV
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