Patents by Inventor Ryosuke Tajima
Ryosuke Tajima 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: 11922649Abstract: It provides the measurement data of each portion of the target object with a high accuracy. The measurement data calculation apparatus 1020 includes an obtaining unit 1024A, an extraction unit 1024B, a conversion unit 1024C, and a calculation unit 1024D. The obtaining unit 1024A obtains the image data in which the target object is photographed and the full length data of the target object. The extraction unit 1024B extracts the shape data indicating the shape of the target object from the image data. The conversion unit 1024C converts and silhouettes the shape data based on the full length data. The calculation unit 1024D uses the shape data converted by the conversion unit 1024C to calculate the measurement data of each portion of the target object.Type: GrantFiled: May 27, 2021Date of Patent: March 5, 2024Assignee: Arithmer Inc.Inventors: Daisuke Sato, Hiroki Yato, Chikashi Arita, Yoshihisa Ishibashi, Takashi Nakano, Ryosuke Sasaki, Ryosuke Tajima, Yoshihiro Ohta
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Publication number: 20230398702Abstract: To provide an object-serving device that is capable of serving a predetermined amount of object with reduced damage to the object. An embodiment of the present invention provides an object-serving device, comprising: object-holding members configured to move at least between an object-holding position and an object release position; a base body to which the object-holding members are attached such that the object-holding members can be moved; and a drive mechanism for driving the object-holding members, wherein each of the object-holding members has a shape following its path of movement at the object-holding position.Type: ApplicationFiled: October 29, 2021Publication date: December 14, 2023Inventor: Ryosuke TAJIMA
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Publication number: 20210312649Abstract: It provides the measurement data of each portion of the target object with a high accuracy. The measurement data calculation apparatus 1020 includes an obtaining unit 1024A, an extraction unit 1024B, a conversion unit 1024C, and a calculation unit 1024D. The obtaining unit 1024A obtains the image data in which the target object is photographed and the full length data of the target object. The extraction unit 1024B extracts the shape data indicating the shape of the target object from the image data. The conversion unit 1024C converts and silhouettes the shape data based on the full length data. The calculation unit 1024D uses the shape data converted by the conversion unit 1024C to calculate the measurement data of each portion of the target object.Type: ApplicationFiled: May 27, 2021Publication date: October 7, 2021Inventors: Daisuke SATO, Hiroki YATO, Chikashi ARITA, Yoshihisa ISHIBASHI, Takashi NAKANO, Ryosuke SASAKI, Ryosuke TAJIMA, Yoshihiro OHTA
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Patent number: 8386076Abstract: 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.Type: GrantFiled: September 12, 2008Date of Patent: February 26, 2013Assignee: Toyota Jidosha Kabushiki KaishaInventors: Daisaku Honda, Keisuke Suga, Ryosuke Tajima
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Patent number: 8340817Abstract: 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.Type: GrantFiled: September 12, 2008Date of Patent: December 25, 2012Assignee: Toyota Jidosha Kabushiki KaishaInventors: Daisaku Honda, Keisuke Suga, Ryosuke Tajima
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Patent number: 8150550Abstract: 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.Type: GrantFiled: September 6, 2007Date of Patent: April 3, 2012Assignee: Toyota Jidosha Kabushiki KaishaInventors: Keisuke Suga, Daisaku Honda, Toru Miyagawa, Ryosuke Tajima
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Patent number: 8108070Abstract: 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.Type: GrantFiled: July 17, 2007Date of Patent: January 31, 2012Assignee: Toyota Jidosha Kabushiki KaishaInventor: Ryosuke Tajima
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Patent number: 7957835Abstract: 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.Type: GrantFiled: February 3, 2006Date of Patent: June 7, 2011Assignee: Toyota Jidosha Kabushiki KaishaInventors: Keisuke Suga, Ryosuke Tajima
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Publication number: 20100017028Abstract: 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.Type: ApplicationFiled: September 6, 2007Publication date: January 21, 2010Inventors: Keisuke Suga, Daisaku Honda, Toru Miyagawa, Ryosuke Tajima
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Publication number: 20090187275Abstract: 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.Type: ApplicationFiled: February 3, 2006Publication date: July 23, 2009Inventors: Keisuke Suga, Ryosuke Tajima
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Publication number: 20090069941Abstract: 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.Type: ApplicationFiled: September 12, 2008Publication date: March 12, 2009Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Daisaku Honda, Keisuke Suga, Ryosuke Tajima
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Publication number: 20090069940Abstract: 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.Type: ApplicationFiled: September 12, 2008Publication date: March 12, 2009Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHAInventors: Daisaku Honda, Keisuke Suga, Ryosuke Tajima
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Publication number: 20090005906Abstract: 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.Type: ApplicationFiled: July 17, 2007Publication date: January 1, 2009Inventor: Ryosuke Tajima
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Patent number: 7378812Abstract: A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means 210 for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means 210 for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means 218, 220 for detecting an actual torso motion, deviation calculation means 312 for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means 308 for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means 306 for correcting the target torso gait data based on the determined correction quantity.Type: GrantFiled: January 26, 2005Date of Patent: May 27, 2008Assignee: Toyota Jidosha Kabushiki KaishaInventors: Takashi Yamamoto, Hisayoshi Sugihara, Keisuke Suga, Yuji Tsusaka, Ryosuke Tajima
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Publication number: 20070241713Abstract: A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means 210 for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means 210 for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means 218, 220 for detecting an actual torso motion, deviation calculation means 312 for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means 308 for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means 306 for correcting the target torso gait data based on the determined correction quantity.Type: ApplicationFiled: January 26, 2005Publication date: October 18, 2007Inventors: Takashi Yamamoto, Hisayoshi Sugihara, Keisuke Suga, Yuji Tsusaka, Ryosuke Tajima