3/2/1 DIALOG(R)File 351:DERWENT WPI (c)1998 Derwent Info Ltd. All rts. reserv. 011372445 **Image available** WPI Acc No: 97-350352/199732 XRPX Acc No: N97-290419 Anti-slip control for legged robot and dynamic simulation system of running creature e.g. for movies, films - displays articulated leg with hip, knee and ankle, against environment including running surface, generated from data structures, on which no slipping appears Patent Assignee: NAGLE J (NAGL-I) Inventor: NAGLE J Number of Countries: 001 Number of Patents: 001 Basic Patent: Patent No Kind Date Applicat No Kind Date Main IPC Week US 5644204 A 19970701 US 94333654 A 19941103 199732 B Priority Applications (No Type Date): US 94333654 A 19941103 Abstract (Basic): US 5644204 A The system comprises data structures defining the physical properties of rigid members of the creature, including a body and an articulated leg, and defining its environment including a surface to receive leg. A dynamics simulator (114) defines actuation of leg with respect to body and equations of motion of rigid members of leg including simulated contact of the leg with the surface. The simulator, responsive to data structures defining the physical properties of the creature and environment (112), incrementally determines positions and velocities of the rigid members of the leg and interaction between the surface and the leg upon simulated running. A control system (118) interacts with the dynamics simulator for determining a simulated transverse force of the leg with respect to and in contact with the surface for simulated running by the creature. The control system has device for limiting the transverse force when leg contacts surface so that the leg avoids slipping on the surface. A graphics system (122) incrementally generates a image of the creature including the leg. A means responsive to the graphics system displays the image. USE/ADVANTAGE - Control system limits foot slippage. Provides robust legged locomotion effect, with apparent hip, knee and ankle articulations. Dwg.17/19 Title Terms: ANTI; SLIP; CONTROL; LEG; ROBOT; DYNAMIC; SIMULATE; SYSTEM; RUN; CREATURE; FILM; DISPLAY; ARTICULATE; LEG; HIP; KNEE; ANKLE; ENVIRONMENT; RUN; SURFACE; GENERATE; DATA; STRUCTURE; NO; SLIP; APPEAR Derwent Class: P62; T06; W04; X25 International Patent Class (Main): B25J-005/00 File Segment: EPI; EngPI Manual Codes (EPI/S-X): T06-D08F; W04-X03X; X25-F05A ----------------------------------------------------------------------------- 12/2/1 DIALOG(R)File 351:DERWENT WPI (c)1998 Derwent Info Ltd. All rts. reserv. 012020343 **Image available** WPI Acc No: 98-437253/199837 XRPX Acc No: N98-340662 Control apparatus for mobile robot esp. of two-legged walking type - detects posture inclination of robot, with position and posture of foot determined so as to control floor reaction force Patent Assignee: HONDA GIKEN KOGYO KK (HOND ) Inventor: HASEGAWA T; MATSUMOTO T; TAKENAKA T Number of Countries: 018 Number of Patents: 001 Basic Patent: Patent No Kind Date Applicat No Kind Date Main IPC Week WO 9833629 A1 19980806 WO 98JP399 A 19980130 B25J-005/00 199837 B Priority Applications (No Type Date): JP 9733176 A 19970131 Designated States (National): US Designated States (Regional): AT; BE; CH; DE; DK; ES; FI; FR; GB; GR; IE; IT; LU; MC; NL; PT; SE Abstract (Basic): WO 9833629 A The posture inclination of the robot is detected, and the moment of the compensation total floor reaction force around the centre of the target total floor reaction force is determined. The moment is distributed to each foot, and the position and posture of the foot are determined so that the robot is turned at a predetermined angle around the centre of the target total floor reaction force and around the centre of the target foot floor reaction force. ADVANTAGE - The floor reaction force exerted on the leg type mobile robot can be controlled easily and properly without interference. Even when there is unexpected variation of the floor shape including not only global undulation and inclination but also local recesses and projections and inclination, the floor reaction force working on the robot can be controlled properly. The slipping and spinning of the robot while it is walking can be prevented. It is also possible to reduce the load on the actuator. Dwg.1/43 Title Terms: CONTROL; APPARATUS; MOBILE; ROBOT; TWO; LEG; WALKING; TYPE; DETECT; POSTURE; INCLINATION; ROBOT; POSITION; POSTURE; FOOT; DETERMINE; SO; CONTROL; FLOOR; REACT; FORCE Derwent Class: P62; Q22; T06; X25 International Patent Class (Main): B25J-005/00 International Patent Class (Additional): B62D-057/02 File Segment: EPI; EngPI Manual Codes (EPI/S-X): T06-D08F; X25-F05A ----------------------------------------------------------------------------- 12/2/2 DIALOG(R)File 351:DERWENT WPI (c)1998 Derwent Info Ltd. All rts. reserv. 011983911 **Image available** WPI Acc No: 98-400821/199835 XRPX Acc No: N98-312015 Gait (step program) generation for walking robot - employs a dynamic correction system, with predictive computer model for generating next step from last Patent Assignee: HONDA GIKEN KOGYO KK (HOND ); HONDA MOTOR CO LTD (HOND ) Inventor: TAKENAKA T Number of Countries: 025 Number of Patents: 002 Basic Patent: Patent No Kind Date Applicat No Kind Date Main IPC Week EP 856457 A2 19980805 EP 98300739 A 19980202 B62D-057/02 199835 B Priority Applications (No Type Date): JP 9733175 A 19970131 Cited Patents: No-SR.Pub Designated States (Regional): AL; AT; BE; CH; DE; DK; ES; FI; FR; GB; GR; IE; IT; LI; LT; LU; LV; MC; MK; NL; PT; RO; SE; SI Abstract (Basic): EP 856457 A The gait generating system for a 3-joint bipedal robot must satisfy, among other conditions, the dynamic equilibrium condition; i.e. the central point of the desired floor reaction force must equal the Zero Moment Point (ZMP). A computer generates the current step gait and next step gait from a set of pre-determined gaits and data about the body displacement and floor reaction force. The discontinuity between the two steps is calculated and along with generated ZMP trajectories input into the inverted pendulum model. A gait correcting output is produced that cancels the discontinuity between steps. USE - Satisfies dynamic equilibrium and conditions and steps are continuous, so allows for change of gait e.g. to turn or navigate stairs. Dwg.2/31 Title Terms: GAIT; STEP; PROGRAM; GENERATE; WALKING; ROBOT; EMPLOY; DYNAMIC ; CORRECT; SYSTEM; PREDICT; COMPUTER; MODEL; GENERATE; STEP; LAST Derwent Class: Q22; X25 International Patent Class (Main): B25J-005/00; B62D-057/02 File Segment: EPI; EngPI Manual Codes (EPI/S-X): X25-A03E; X25-F05A ----------------------------------------------------------------------------- 12/2/3 DIALOG(R)File 351:DERWENT WPI (c)1998 Derwent Info Ltd. All rts. reserv. 011945684 **Image available** WPI Acc No: 98-362594/199831 XRPX Acc No: N98-283098 Attitude controller of legged moving robot - distributes deviation between target value and actual value of reactive force received from working object about a target upper body attitude and target flat foot attitude Patent Assignee: HONDA GIKEN KOGYO KK (HOND ) Inventor: HASEGAWA T; MATSUMOTO T; TAKENAKA T Number of Countries: 018 Number of Patents: 001 Basic Patent: Patent No Kind Date Applicat No Kind Date Main IPC Week WO 9826905 A1 19980625 WO 97JP4723 A 19971219 B25J-005/00 199831 B Priority Applications (No Type Date): JP 96354561 A 19961219 Designated States (National): US Designated States (Regional): AT; BE; CH; DE; DK; ES; FI; FR; GB; GR; IE; IT; LU; MC; NL; PT; SE Abstract (Basic): WO 9826905 A A legged moving robot, particularly a two-legged walking robot having arms, on receiving an unexpected reactive force from a working object, keeps the dynamic balance and a stable attitude can be maintained. In accordance with the deviation between the target value and actual value of the reactive force of the object, the deviation (momentum around a whole floor reactive force centre point) is distributed among a target upper body position/attitude and a target flat foot position/attitude to correct them and the respective linkage joints are driven and controlled in accordance with the correction. Dwg.1/13 Title Terms: ATTITUDE; CONTROL; LEG; MOVE; ROBOT; DISTRIBUTE; DEVIATE; TARGET; VALUE; ACTUAL; VALUE; REACT; FORCE; RECEIVE; WORK; OBJECT; TARGET ; UPPER; BODY; ATTITUDE; TARGET; FLAT; FOOT; ATTITUDE Derwent Class: P62; Q22; T01; T06; X25 International Patent Class (Main): B25J-005/00 International Patent Class (Additional): B62D-057/02 File Segment: EPI; EngPI Manual Codes (EPI/S-X): T01-J07B; T06-D08F; X25-F05A ----------------------------------------------------------------------------- 12/2/4 DIALOG(R)File 351:DERWENT WPI (c)1998 Derwent Info Ltd. All rts. reserv. 011918241 **Image available** WPI Acc No: 98-335151/199830 XRPX Acc No: N98-261594 Remote control system for legged moving or walking robot - has manipulator, operable by operator sat on seat, orientation controller and orientation detector connected to tilter on seat Patent Assignee: HONDA GIKEN KOGYO KK (HOND ); HONDA MOTOR CO LTD (HOND ) Inventor: TAKENAKA T Number of Countries: 025 Number of Patents: 002 Basic Patent: Patent No Kind Date Applicat No Kind Date Main IPC Week EP 850729 A2 19980701 EP 97310611 A 19971224 B25J-009/16 199830 B Priority Applications (No Type Date): JP 96343922 A 19961224 Cited Patents: No-SR.Pub Designated States (Regional): AL; AT; BE; CH; DE; DK; ES; FI; FR; GB; GR; IE; IT; LI; LT; LU; LV; MC; MK; NL; PT; RO; SE; SI Abstract (Basic): EP 850729 A The system has a robot manipulator (S) operated by an operator (OP) seating on a tiltable seat with a seat back which allows the application of an operation command to a legged moving robot. A unit on the moving robot controls the robot automatically to achieve the target orientation stably depending upon the operation command. An orientation detector detects an orientation of the moving robot. A tilting mechanism (27) tilts the seat back or the seat depending on a deviation of the orientation of the moving robot detected by the detector from the target orientation. USE - For bipedal robots. ADVANTAGE - Allows accurate and reliable recognition of unstable conditions or orientations, such as when the robot carries a heavy weight. Dwg.2/15 Title Terms: REMOTE; CONTROL; SYSTEM; LEG; MOVE; WALKING; ROBOT; MANIPULATE ; OPERATE; OPERATE; SEAT; ORIENT; CONTROL; ORIENT; DETECT; CONNECT; TILT; SEAT Derwent Class: P62; Q22; T06; X25 International Patent Class (Main): B25J-005/00; B25J-009/16 International Patent Class (Additional): B25J-013/06; B62D-057/02; G05D-003/12 File Segment: EPI; EngPI Manual Codes (EPI/S-X): T06-D07B; X25-A03E; X25-F05A ----------------------------------------------------------------------------- 12/2/5 DIALOG(R)File 351:DERWENT WPI (c)1998 Derwent Info Ltd. All rts. reserv. 011713589 WPI Acc No: 98-130499/199812 XRPX Acc No: N98-102999 Gait-generating device for leg type moving robot for real-time movement Patent Assignee: HONDA MOTOR CO LTD (HOND ); HONDA GIKEN KOGYO KK (HOND ) Inventor: TAKENAKA T Number of Countries: 019 Number of Patents: 002 Basic Patent: Patent No Kind Date Applicat No Kind Date Main IPC Week WO 9804388 A1 19980205 WO 97JP2581 A 19970725 B25J-005/00 199812 B Priority Applications (No Type Date): JP 96214261 A 19960725 Designated States (National): US Designated States (Regional): AT; BE; CH; DE; DK; ES; FI; FR; GB; GR; IE; IT; LU; MC; NL; PT; SE Abstract (Basic): WO 9804388 A A gait generating device for a leg type moving robot comprising, in particular, an upper body part and a plurality of leg links connected to the upper body part through joints, wherein a gait composed of a movement parameter and a floor reaction parameter is modified freely and in real time at the time of walking. Thus various kinds of standard gaits are beforehand prepared off-line, and a gait is produced by finding an approximation, such as weighted mean, of the standard gaits according to a demand. Further, gaits produced using an inverted pendulum model are corrected so as to cause positions and speeds to be continuous at boundary conditions. Thus gaits including floor reactions are produced freely and in real time to realise arbitrary strides, swinging angles and the like. Also, it is possible to make continuous displacements and speeds of various parts of a robot at boundaries of the gaits produced. Further, a leg type moving robot can be driven and controlled on the basis of gaits produced in real time. Title Terms: GAIT; GENERATE; DEVICE; LEG; TYPE; MOVE; ROBOT; REAL; TIME; MOVEMENT Derwent Class: P62; T01; X25 International Patent Class (Main): B25J-005/00 International Patent Class (Additional): G05D-001/02 File Segment: EPI; EngPI Manual Codes (EPI/S-X): T01-J07B; X25-F05A ------------------------------------------------------------------------------- 12/2/6 DIALOG(R)File 351:DERWENT WPI (c)1998 Derwent Info Ltd. All rts. reserv. 011671880 **Image available** WPI Acc No: 98-088789/199809 XRPX Acc No: N98-070473 Gait generation system for legged mobile robot - uses algorithms to control six leg joints from kinematic solution to determine required body height Patent Assignee: HONDA GIKEN KOGYO KK (HOND ); HONDA MOTOR CO LTD (HOND ) Inventor: MATSUMOTO T; TAKENAKA T Number of Countries: 024 Number of Patents: 002 Basic Patent: Patent No Kind Date Applicat No Kind Date Main IPC Week EP 820918 A1 19980128 EP 97305586 A 19970725 B62D-057/032 199809 B Priority Applications (No Type Date): JP 96214260 A 19960725 Designated States (Regional): AL; AT; BE; CH; DE; DK; ES; FI; FR; GB; GR; IE; IT; LI; LT; LU; LV; MC; NL; PT; RO; SE; SI Abstract (Basic): EP 820918 A The system generates or determines a gait of a legged mobile robot (1) with a pair of articulated legs (2) each with six joints. Each joint has a motor which actuates the joint. A pair of joints (10R,10L) turn the legs with respect to the hips, a pair of joints (12R,12L) provide pitch movement and a third pair (14R,14L) provide the rolling movement. Knee joints (16R,16L) with pitch joints (18R,18L) and pitch joints (20R,20L) complete the joints. The desired angle of the joints is determined through an inverse kinematic solution, based on the body trajectory, leg trajectory and the body height. The body height, leg trajectory and the desired position and orientation are determined by an off-line computer. ADVANTAGE - Determines required body height. Ensures posture required to satisfy desired height. Dwg.1/25 Title Terms: GAIT; GENERATE; SYSTEM; LEG; MOBILE; ROBOT; ALGORITHM; CONTROL ; SIX; LEG; JOINT; KINEMATIC; SOLUTION; DETERMINE; REQUIRE; BODY; HEIGHT Derwent Class: P62; Q22; T01; X25 International Patent Class (Main): B25J-005/00; B62D-057/032 File Segment: EPI; EngPI Manual Codes (EPI/S-X): T01-J07B; X25-F05A ------------------------------------------------------------------------------- 12/2/7 DIALOG(R)File 351:DERWENT WPI (c)1998 Derwent Info Ltd. All rts. reserv. 011121811 **Image available** WPI Acc No: 97-099736/199709 XRPX Acc No: N97-082536 Trajectory generating method for robot - involves displacing virtual space including first and second co-ordinate system from point P1 to point P2 by translating or rotating virtual space Patent Assignee: HONDA GIKEN KOGYO KK (HOND ) Inventor: HASEGAWA T; TAKENAKA T Number of Countries: 001 Number of Patents: 001 Basic Patent: Patent No Kind Date Applicat No Kind Date Main IPC Week US 5594644 A 19970114 US 9365242 A 19930520 G06F-007/70 199709 B Priority Applications (No Type Date): JP 92155915 A 19920522 Abstract (Basic): US 5594644 A The method involves establishing a trajectory of a member defining a motion of the member including a constraint condition with respect to ground in a first co-ordinate system in a virtual space set in a real space. The virtual space including the first and second co-ordinate system are displaced from a point P1 to point P2 by translating or rotating the virtual space. The robot member movement is controlled from P1 to point P2 using the displacement of the virtual space in the real space. The trajectory is established on a virtual plane including the point P1 fixed on the first co-ordinate system in the virtual space. ADVANTAGE - Generates trajectory that satisfies boundary condition easily even when constraint condition varies. Dwg.1/12 Title Terms: TRAJECTORY; GENERATE; METHOD; ROBOT; DISPLACE; VIRTUAL; SPACE; FIRST; SECOND; CO; ORDINATE; SYSTEM; POINT; POINT; TRANSLATION; ROTATING; VIRTUAL; SPACE Derwent Class: T01; T06; X25 International Patent Class (Main): G06F-007/70 International Patent Class (Additional): G05B-019/04 File Segment: EPI Manual Codes (EPI/S-X): T01-J07B; T06-A04B; T06-D08F; X25-F05A ------------------------------------------------------------------------------- 011494905 **Image available** WPI Acc No: 97-472818/199744 XRPX Acc No: N97-394245 Articulated structure for legged walking robot - has electric motor with output shaft axially aligned with one axis about which leg is angularly movable in pitch direction, and has speed reducer with input shaft coaxial with output shaft of motor Patent Assignee: HONDA GIKEN KOGYO KK (HOND ) Inventor: GOMI H; HIROSE M; KUMAGAI T; NISHIKAWA M Number of Countries: 003 Number of Patents: 002 Basic Patent: Patent No Kind Date Applicat No Kind Date Main IPC Week EP 791439 A2 19970827 EP 90313722 A 19901214 B25J-011/00 199744 B EP 97200866 A 19901214 Priority Applications (No Type Date): JP 89324218 A 19891214 Cited Patents: No-SR.Pub; 1.Jnl.Ref; EP 108657; EP 399720; JP 1047686; US 4579558; US 4834200 Designated States (Regional): DE; FR; GB Abstract (Basic): EP 791439 A The articulated structure has at least two degrees of freedom, one of which is a degree of freedom for angularly moving a leg in a pitch direction about a first axis (12) of a hip joint assembly, comprising an electric motor for angularly moving the leg in the pitch direction. The electric motor has an output shaft which is axially aligned with the first axis (12) about which the leg is angularly movable in the pitch direction. The articulated structure also has a speed reducer (72) having an input shaft which is coaxial with the output shaft of the electric motor. The other degree of freedom is a degree of freedom for angularly moving the leg in a roll direction normal to the pitch direction. The articulated structure also includes a second electric motor for angularly moving the leg in the roll direction and a second speed reducer having an output shaft which is coaxial with a second axis about which the leg is angularly movable in the roll direction. ADVANTAGE- Reduces inertial moments applied to robot and increases height of centre of gravity of robot. Dwg.1/6 Title Terms: ARTICULATE; STRUCTURE; LEG; WALKING; ROBOT; ELECTRIC; MOTOR; OUTPUT; SHAFT; AXIS; ALIGN; ONE; AXIS; LEG; ANGULAR; MOVE; PITCH; DIRECTION; SPEED; REDUCE; INPUT; SHAFT; COAXIAL; OUTPUT; SHAFT; MOTOR Derwent Class: P62; Q22; X25 International Patent Class (Main): B25J-011/00 International Patent Class (Additional): B25J-005/00; B25J-017/00; B62D-057/02; G05D-001/10 File Segment: EPI; EngPI Manual Codes (EPI/S-X): X25-A03E ------------------------------------------------------------------------------- 011465320 **Image available** WPI Acc No: 97-443227/199741 XRPX Acc No: N97-369060 Walking operation control device for movable robot - has control unit which controls walking operation of robot whose tiptoe part and heel part are horizontally and substantially stepped on stair surface when robot goes up or down stair Patent Assignee: HONDA MOTOR CO LTD (HOND ) Number of Countries: 001 Number of Patents: 001 Basic Patent: Patent No Kind Date Applicat No Kind Date Main IPC Week JP 9201782 A 19970805 JP 9631365 A 19960125 B25J-005/00 199741 B Priority Applications (No Type Date): JP 9631365 A 19960125 Abstract (Basic): JP 9201782 A The device has a control unit (26) which controls walking operation of a robot (1) in the stairs. The robot upper body (24), the leg link (2), and the foot joints (20R,20L) are interconnected through various joints. The tiptoe part and heel part of the robot are horizontally and substantially stepped on the stair surface when the robot goes up or down the stairs. ADVANTAGE - Enables stabilising robot movement when walking in stairs even when robot has longer foot than surface width of stairs. Dwg.1/23 Title Terms: WALKING; OPERATE; CONTROL; DEVICE; MOVE; ROBOT; CONTROL; UNIT; CONTROL; WALKING; OPERATE; ROBOT; PART; HEEL; PART; HORIZONTAL; SUBSTANTIAL; STEP; STAIR; SURFACE; ROBOT; UP; DOWN; STAIR Derwent Class: P62; X25 International Patent Class (Main): B25J-005/00 File Segment: EPI; EngPI Manual Codes (EPI/S-X): X25-A03E; X25-F05A -------------------------------------------------------------------------------