Patent abstracts

Citation

(2009), "Patent abstracts", Industrial Robot, Vol. 36 No. 5. https://doi.org/10.1108/ir.2009.04936ead.003

Patent abstracts

Article Type: Patent abstracts From: Industrial Robot: An International Journal, Volume 36, Issue 5

Title: Design and evaluation of communication middleware in a distributed humanoid robot architectureApplicant: Honda Motor Co. Ltd (JP); Communicative Machines Inc. (USA); Ng-Thow-Hing Victor (USA); List Thor (USA); Thorisson Kristinn R. (USA); Wormer Joel (USA)Patent number: WO2009055296Publication date: April 30, 2009

Abstract

A publish-subscribe architecture-based blackboard system for selecting and exchanging selected information among a plurality of processing modules using filters for implementing conditions described in a procedural language to reduce the amount of information transmitted between the processing modules. More than one filter may be dynamically installed in a message hub to select and collect the published information to be sent to a certain subscribing module. By using the procedural language to describe the filters, the message hub can more intelligently select the information to be sent to the subscribing module. This reduces the amount of information transmitted via communication channels. Further, the subscribing module may be relieved from the task of filtering the information received from the message hub, allowing the subscribing module to devote more resources to other operations.

Title: Five-finger type human simulating manipulator mechanismApplicant: Zhicheng Yang (CN)Patent number: CN101367209Publication date: February 18, 2009

Abstract

The invention belongs to the field of a humanoid hand which consists of a palm, a thumb, a forefinger, a middle finger, a third finger and a little finger, wherein the forefinger, the middle finger, the third finger and the little finger are arranged on the front end of the palm, and the thumb is arranged on the upper right end of the palm. Except the thumb, the rest four fingers consist of a driving motor, a palm knuckle, a forefinger knuckle, a middle finger knuckle and a little finger knuckle; and the thumb consists of a driving motor, a palm knuckle, a middle finger knuckle and a little finger knuckle. The humanoid hand converts electric energy into mechanical energy which stretches two wireropes which mutually limit each other and drag the fingers, and makes the fingers move in the same plane; the electric energy drives a connecting rod to be converted into the mechanical energy so that the fingers can move mutually, which is combined with that the fingers move in the same plane to realize three-dimensional movements of the fingers; and the humanoid hand can realize actions such as grasping, taking, pinching, clamping and the like to irregular objects.

Title: Humanoid robot control system and robot controlling methodApplicant: Univ Zhejiang (CN)Patent number: CN101373380Publication date: February 25, 2009

Abstract

The invention provides a humanoid robot control system based on the visual and wireless technology, which comprises local equipment and remote equipment, wherein the local equipment is composed of a visual perception module, a local control module, a network module and a motor control module; and the remote equipment is composed of a remote control module and a remote debugging module. The invention further provides a robot control method of the humanoid robot control system which comprises a local control mode, a remote control mode and a remote debugging control mode. The invention has the characteristic of high-performance calculation of DSP, adopts visual feedback technology and wireless transmission technology, and has the abilities of autonomous real-time task planning and execution, online optimization recognition and control calculation. In a system frame, the characteristic that intelligent control modules and perception physically separated from action execution modules can finish high-level control in real time; therefore, the invention has the characteristics of high calculation efficiency, convenient debugging, and the like. In addition, research and development tasks for robots can be conducted conveniently, and research and development efficiency can be improved.

Title: Electrical stimulator for sensation feedback of apery myoelectricity artificial handApplicant: Harbin Institute of Technology (CN)Patent number: CN101305939Publication date: November 19, 2008

Abstract

The invention discloses an electrical stimulator for the sensory feedback of a humanoid type myoelectric prosthetic hand, in particular to a sensory feedback stimulating device of an electrical control system of the myoelectric prosthetic hand, and solves the problems in the sensory feedback of a sensor, such as the accuracy and the universality are worse, the time delay is longer, and the stimulus intensity cannot be distinguished. Both, a power supply end and an electrical inductance of a main control chip of a power supply module are connected with a power supply; both the electrical inductance and a commutation diode are connected with a driving end of the main control chip of the power supply module; both a first configuration resistance and a second configuration resistance are connected with the driving end of the main control chip of the power supply module; both the first configuration resistance and the commutation diode are connected with the driving end of a stimulus drive circuit; the power supply end of the main control chip of the stimulus drive circuit is connected with the power supply end of a power-supply modular circuit; an output end of a frequency signal generating circuit is connected with a signal end of the main control chip of the stimulus drive circuit; a detecting resistance is connected with a detecting end of the main control chip of the stimulus drive circuit and a power ground, and a turning-off time allocation circuit is connected with a turning-off control end of the main control chip of the stimulus drive circuit and the power ground.

Title: Method for controlling the walk of humanoid robotApplicant: Korea Institute of Science and Technology (KR)Patent number: US2008281469 (A1)Publication date: November 13, 2008

Abstract

The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface: (1) calculating trajectories of a center of gravity of the robot along with the trajectory of the ZMP; (2) calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP; and (3) controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.

Title: Method for determining target person of service in service system by robot and service system by robot using same methodApplicant: Mitsubishi Heavy Industries, LtdPatent number: JP2008142876 (A)Publication date: June 26, 2008

Abstract

Problem to be solved: to provide a method for determining a target person of a service in a service system by a robot capable of appropriately recognizing the target person of the service by the robot in a place with unspecified number of attendance, and offering a service such as provision of information, support, moreover, security, and escape guiding in case of fire to those present according to circumstances, and to provide the service system by the robot using the method. Solution: this method consists of: a humanoid robot with an image pick-up device, an utterance device, and a voice recognition means; a behavior recognition sensor recognizing the behavior of the unspecified number of human beings, consisting of the image pick-up device, a floor sensor, and the voice recognition means; and a data processing device. The robot is moved to a position capable of determining the active behavior of a service candidate relative to the candidate selected by the behavior recognition sensor from the unspecified number of human beings, and data for determining the active behavior is obtained by the robot sensor. It is compared with the previously prepared behavior pattern data of the target person, thereby determining whether the candidate is the target person of the service, and then, offering the service (copyright: ©2008,JPO&INPIT).

Title: Android control systemApplicant: Toyota Motor Co. Ltd (JP)Patent number: KR20080093460 (A)Publication date: October 21, 2008

Abstract

A technique to wholly recognize the surrounding environment may be provided by excluding unknown environment which arises due to parts of a body of a robot hindering the sight of the robot during operations. The robot of the present invention is provided with a body trunk including head and torso, at least one connected member that is connected to the body trunk by a joint in which a driving mechanism is provided, a body trunk side camera that is arranged on the body trunk, and a connected member side camera that is arranged on the connected member. Further, the robot is provided with a composite image creation unit that creates composite image of a body trunk side image taken by the body trunk side camera and a connected member side image taken by the connected member side camera, such that a part of the body trunk side image is replaced with a part of the connected member side image so as to exclude the connected member from the body trunk side image.

Title: Android control systemApplicant: ATR Advanced Telecomm Research InstitutePatent number: JP2008023604 (A)Publication date: February 7, 2008

Abstract

Problem to be solved: to provide a humanoid robot performing natural movements. Solution: this android control system includes an android, and the android is disposed at a certain place as a substitute as a person. Generally, the android communicates such as having dialogues with a person according to the control of a control device. However, when the android itself cannot correspond thereto, the android notifies it to a remote-operator accordingly. In that case, the android is moved by the command by the remote operator. For example, when there is no person nearby or around, or when there is no command from the remote operator, the android executes an unconscious movement according to the control of the control device. That is to say, the android performs a physiological movement such as blinking or breathing, or executes a movement of doing a habit such as touching hair. As a result, this control system can attain the movement specific to the android such as the unconscious movement (copyright: ©2008, JPO&INPIT).