Patents by Inventor Riadh Zaier
Riadh Zaier has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 8805582Abstract: A robot control method controls walking of a robot. The method generates control information based on postures at a plurality of differing points. The differing points include a reference posture in which the robot is standing independently without falling over. The method controls the robot to carry out a walking operation and detect an obstacle in a place in which a robot leg lands. The method also instructs the robot to carry out rolling onto a supporting leg and returning a swing leg to a position before swinging, to invert a compliance control gain and to bend the supporting leg by an amount while extending the swing leg by the amount.Type: GrantFiled: February 1, 2009Date of Patent: August 12, 2014Assignee: Fujitsu LimitedInventor: Riadh Zaier
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Patent number: 8761926Abstract: A robot control method for controlling robot walking includes: generating control information, based on a plurality of postures corresponding to different points of time and at least including a reference posture when a robot is independently standing without falling down, and controlling the robot so that the robot performs a predetermined walking motion; and determining whether a value of a gyro index is larger than a predetermined threshold value, during the controlling of the robot, and, when the value of the gyro index is larger than the predetermined threshold value, performs a reflex control processing.Type: GrantFiled: March 24, 2010Date of Patent: June 24, 2014Assignee: Fujitsu LimitedInventor: Riadh Zaier
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Patent number: 8326459Abstract: A robot control apparatus includes walking operation control unit which controls the robot to carry out a predetermined walking operation; an obstacle detection unit which detects an obstacle existing in a place where a leg of the robot lands; a determination unit which determines whether or not a place on a sole of the robot's leg on which a reaction force from the obstacle works is in a stable area; and a reflex control unit which causes an ankle of the robot's leg in contact with the obstacle, when the reaction force working on the sole of the robot's leg is not in the stable area, to carry out a pitching or rolling operation, expanding the stable area, extends the leg, and controls the leg in such a way that a ZMP converges on a point of equilibrium of a support leg.Type: GrantFiled: September 15, 2009Date of Patent: December 4, 2012Assignee: Fujitsu LimitedInventor: Riadh Zaier
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Patent number: 7937185Abstract: The motion of a robot is switched from a first motion, which the robot is currently performing, to a second motion. Postures of the robot in both the motions are pre-defined with a plurality of frames at a plurality of different time points. When switching from the first motion to the second motion, information is acquired on the frames corresponding to the second motion, and the posture of the robot is after the switching is controlled based on the acquired information.Type: GrantFiled: March 15, 2006Date of Patent: May 3, 2011Assignee: Fujitsu LimitedInventor: Riadh Zaier
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Patent number: 7904203Abstract: A robot control apparatus for controlling walking of a robot includes a control information generating unit that generates control information based on a posture of a robot at a plurality of different points of time including at least a reference posture when the robot is independently standing without falling down, a feedback control unit that, with respect to the robot controlled according to the control information generated by the control information generating unit, performs a gyro feedback control based on a rotation angle measured at two points of time when rolling to left and right becomes maximum by a gyro sensor installed in the robot, and a rolling amplitude correcting unit that, while the robot is in motion, corrects a rolling amplitude that is used by the control information generating unit in generating the control information so that the gyro feedback control performed by the feedback control unit is reduced.Type: GrantFiled: February 19, 2010Date of Patent: March 8, 2011Assignee: Fujitsu LimitedInventor: Riadh Zaier
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Publication number: 20100286822Abstract: A robot control method for controlling robot walking includes: generating control information, based on a plurality of postures corresponding to different points of time and at least including a reference posture when a robot is independently standing without falling down, and controlling the robot so that the robot performs a predetermined walking motion; and determining whether a value of a gyro index is larger than a predetermined threshold value, during the controlling of the robot, and, when the value of the gyro index is larger than the predetermined threshold value, performs a reflex control processing.Type: ApplicationFiled: March 24, 2010Publication date: November 11, 2010Applicant: FUJITSU LIMITEDInventor: Riadh Zaier
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Publication number: 20100222927Abstract: A robot control apparatus for controlling walking of a robot includes a control information generating unit that generates control information based on a posture of a robot at a plurality of different points of time including at least a reference posture when the robot is independently standing without falling down, a feedback control unit that, with respect to the robot controlled according to the control information generated by the control information generating unit, performs a gyro feedback control based on a rotation angle measured at two points of time when rolling to left and right becomes maximum by a gyro sensor installed in the robot, and a rolling amplitude correcting unit that, while the robot is in motion, corrects a rolling amplitude that is used by the control information generating unit in generating the control information so that the gyro feedback control performed by the feedback control unit is reduced.Type: ApplicationFiled: February 19, 2010Publication date: September 2, 2010Applicant: FUJITSU LIMITEDInventor: Riadh Zaier
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Publication number: 20100070076Abstract: A robot control apparatus includes walking operation control unit which controls the robot to carry out a predetermined walking operation; an obstacle detection unit which detects an obstacle existing in a place where a leg of the robot lands; a determination unit which determines whether or not a place on a sole of the robot's leg on which a reaction force from the obstacle works is in a stable area; and a reflex control unit which causes an ankle of the robot's leg in contact with the obstacle, when the reaction force working on the sole of the robot's leg is not in the stable area, to carry out a pitching or rolling operation, expanding the stable area, extends the leg, and controls the leg in such a way that a ZMP converges on a point of equilibrium of a support leg.Type: ApplicationFiled: September 15, 2009Publication date: March 18, 2010Applicant: FUJITSU LIMITEDInventor: Riadh ZAIER
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Publication number: 20090306824Abstract: A robot control method controls walking of a robot. The method generates control information based on postures at a plurality of differing points. The differing points include a reference posture in which the robot is standing independently without falling over. The method controls the robot to carry out a walking operation and detect an obstacle in a place in which a robot leg lands. The method also instructs the robot to carry out rolling onto a supporting leg and returning a swing leg to a position before swinging, to invert a compliance control gain and to bend the supporting leg by an amount while extending the swing leg by the amount.Type: ApplicationFiled: February 1, 2009Publication date: December 10, 2009Applicant: FUJITSU LIMITEDInventor: Riadh ZAIER
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Patent number: 7482775Abstract: Motions of a robot are defined by a plurality of frames P0 to P11 at a plurality of different time points. The frames include a plurality of reference frames. In the reference frames, the robot stands alone without falling. The data of the other frames, i.e., frames other than the reference frames, are set only roughly before the robot begins walking. When the robot starts walking, the roughly set data of the other frames is corrected based on control information calculated from the roughly set data and the data of the reference frames.Type: GrantFiled: March 15, 2006Date of Patent: January 27, 2009Assignee: Fujitsu LimitedInventor: Riadh Zaier
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Publication number: 20070150095Abstract: The motion of a robot is switched from a first motion, which the robot is currently performing, to a second motion. Postures of the robot in both the motions are pre-defined with a plurality of frames at a plurality of different time points. When switching from the first motion to the second motion, information is acquired on the frames corresponding to the second motion, and the posture of the robot is after the switching is controlled based on the acquired information.Type: ApplicationFiled: March 15, 2006Publication date: June 28, 2007Applicant: FUJITSU LIMITEDInventor: Riadh Zaier
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Publication number: 20070145930Abstract: Motions of a robot are defined by a plurality of frames P0 to P11 at a plurality of different time points. The frames include a plurality of reference frames. In the reference frames, the robot stands alone without falling. The data of the other frames, i.e., frames other than the reference frames, are set only roughly before the robot begins walking. When the robot starts walking, the roughly set data of the other frames is corrected based on control information calculated from the roughly set data and the data of the reference frames.Type: ApplicationFiled: March 15, 2006Publication date: June 28, 2007Applicant: FUJITSU LIMITEDInventor: Riadh Zaier