Patents by Inventor Tatsuzo Ishida
Tatsuzo Ishida 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: 7113849Abstract: The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method according to the invention 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, according to the invention, 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.Type: GrantFiled: May 11, 2005Date of Patent: September 26, 2006Assignees: Sony Corporation, Jinichi YamaguchiInventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
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Patent number: 7076338Abstract: 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.Type: GrantFiled: August 16, 2004Date of Patent: July 11, 2006Assignees: Sony CorporationInventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
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Patent number: 7076337Abstract: 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.Type: GrantFiled: August 8, 2003Date of Patent: July 11, 2006Assignees: Sony Corporation, Jinichi YamaguchiInventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
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Patent number: 7031806Abstract: A robot operates accurately while canceling an affect of pitch-axis, rollaxis, and yaw-axis moments, these moments being applied on the robot body during a leg-moving operation such as walking. 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.Type: GrantFiled: September 7, 2004Date of Patent: April 18, 2006Assignees: Sony Corporation, Jinichi YamaguchiInventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
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Patent number: 7013201Abstract: 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. The invention makes it 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.Type: GrantFiled: February 10, 2004Date of Patent: March 14, 2006Assignees: Sony CorporationInventors: Yuichi Hattori, Tatsuzo Ishida, Jinichi Yamaguchi
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Patent number: 6961640Abstract: 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 patterns of a robot including walking are classified into motion units, each motion unit serving 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 changed in real-time by commands.Type: GrantFiled: November 16, 2001Date of Patent: November 1, 2005Assignees: Sony Corporation, Jinichi YamaguchiInventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
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Publication number: 20050203667Abstract: The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method according to the invention 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, according to the invention, 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.Type: ApplicationFiled: May 11, 2005Publication date: September 15, 2005Inventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
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Publication number: 20050177277Abstract: 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.Type: ApplicationFiled: August 8, 2003Publication date: August 11, 2005Inventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
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Patent number: 6917175Abstract: 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.Type: GrantFiled: April 15, 2003Date of Patent: July 12, 2005Assignees: Sony Corporation, Jinichi YamaguchiInventors: Yuichi Hattori, Yoshihiro Kuroki, Tatsuzo Ishida, Junichi Yamaguchi
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Patent number: 6898485Abstract: 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.Type: GrantFiled: November 16, 2001Date of Patent: May 24, 2005Assignees: Sony CorporationInventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
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Publication number: 20050033475Abstract: The present invention allows 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.Type: ApplicationFiled: September 7, 2004Publication date: February 10, 2005Inventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
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Publication number: 20050021184Abstract: 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 patterns of a robot including walking are classified into motion units, each motion unit serving 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 changed in real-time by commands.Type: ApplicationFiled: August 16, 2004Publication date: January 27, 2005Inventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
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Patent number: 6832131Abstract: 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. The robot independently, reliably, and smoothly gets 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.Type: GrantFiled: September 30, 2002Date of Patent: December 14, 2004Assignees: Sony CorporationInventors: Yuichi Hattori, Tatsuzo Ishida, Jinichi Yamaguchi
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Patent number: 6832132Abstract: A legged mobile robot is adaptively controlled in its attitude against variable external forces to continue the operation without inversion. When the legged mobile robot kicks an object having a certain mass, such as a ball, the robot is to be prevented from being fallen down by the reactive force from the object. Even if the mass or the repulsion coefficient of the object kicked is unknown, the operation of kicking the object at a sufficiently low speed is carried out at the outset to predict the reactive force produced on actual kicking in order to predict the reactive force produced on actual kicking. The result is that the stability in attitude can be maintained on kicking at an arbitrary speed. The legged mobile robot is able to take part as one of the players in athletic games, such as soccer games, in which each player performs his or her role as the or she is subjected to an external force.Type: GrantFiled: December 20, 2002Date of Patent: December 14, 2004Assignees: Sony CorporationInventors: Tatsuzo Ishida, Yoshihiro Kuroki, Jinichi Yamaguchi
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Publication number: 20040162636Abstract: 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. The invention makes it 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.Type: ApplicationFiled: February 10, 2004Publication date: August 19, 2004Applicant: SONY CORPORATIONInventors: Yuichi Hattori, Tatsuzo Ishida, Jinichi Yamaguchi
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Patent number: 6697709Abstract: 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.Type: GrantFiled: July 15, 2002Date of Patent: February 24, 2004Assignees: Sony CorporationInventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
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Publication number: 20030229419Abstract: A legged mobile robot is adaptively controlled in its attitude against variable external forces to continue the operation without inversion. When the legged mobile robot kicks an object having a certain mass, such as a ball, the robot is to be prevented from being fallen down by the reactive force from the object. Even if the mass or the repulsion coefficient of the object kicked is unknown, the operation of kicking the object at a sufficiently low speed is carried out at the outset to predict the reactive force produced on actual kicking in order to predict the reactive force produced on actual kicking. The result is that the stability in attitude can be maintained on kicking at an arbitrary speed. The legged mobile robot is able to take part as one of the players in athletic games, such as soccer games, in which each player performs his or her role as the or she is subjected to an external force.Type: ApplicationFiled: December 20, 2002Publication date: December 11, 2003Applicants: SONY CORPORATION, JINICHI YAMAGUCHIInventors: Tatsuzo Ishida, Yoshihiro Kuroki, Jinichi Yamaguchi
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Publication number: 20030173926Abstract: 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.Type: ApplicationFiled: April 15, 2003Publication date: September 18, 2003Applicant: SONY CORPORATIONInventors: Yuichi Hattori, Yoshihiro Kuroki, Tatsuzo Ishida, Junichi Yamaguchi
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Publication number: 20030139849Abstract: 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.Type: ApplicationFiled: November 25, 2002Publication date: July 24, 2003Inventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi
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Publication number: 20030120388Abstract: The present invention allows 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.Type: ApplicationFiled: November 13, 2002Publication date: June 26, 2003Inventors: Yoshihiro Kuroki, Tatsuzo Ishida, Jinichi Yamaguchi