Forecasting the development of the biped robot walking technique in Japan through S-curve model analysis

Patents contain much significant technical information which can serve as an indicator of technological and economical development. This study attempts to forecast the development of the biped robot walking technique in Japan by use of the patent data obtained from the Japan Patent Office. The study applies linear regression to the patent data using three S-curve models developed by Loglet Lab, Pearl, and Gompertz individually. Various parameters inherent to each model including the least sum of modulus error and the least mean of square error of the model are analyzed. The most appropriate model for measuring the inflection point, the growth and the saturation time of the technique is described. Based on the Gompertz model analysis, this study finds that the biped robot walking technique will continue to develop for several decades in Japan and the saturation period is estimated to be around the year 2079–2082. This finding can help related researchers and managers in the robot field to foresee the development trend of the biped robot walking technique in this century.     

双足机器人半被动行走固定点全局稳定性分析

研究半被动双足机器人行走过程固定点的全局稳定性问题。使用罗盘机器人模型,在脚与地面冲击前,采用沿着支撑腿方向的脉冲推力作为行走的动力源,采用庞加莱映射方法分析了半被动双足机器人行走的固定点及其稳定性。通过引入一个限位器使两腿间的夹角在脚与地面冲击时保持为常数。证明了半被动双足机器人行走过程固定点的存在性及其全局稳定性,并讨论了固定点存在的动力学附加条件。仿真结果表明:该文提出的采用脉冲推力作为行走的动力源、采用限位器使两腿间的夹角在脚与地面冲击时保持为常数的半被动机器人可以在水平面上稳定行走,并且固定点对干扰具有鲁棒性。     

CORDIC-based FPGA hardware design method for biped walking gait

In this paper, a simple oscillator-based biped walking method is described and a CORDIC-based FPGA hardware design method is proposed to effectively generate a walking gait in a biped robot. Based on the simple oscillator-based model, some equations represented by sinusoidal functions are proposed to describe a biped walking as a complete walking process with three modes (starting mode, gait cycle mode, and ending mode) and six phases. In these six phases, these oscillation parameters can be represented by the swing length, the step length, and the lifting height of the biped robot. Then an FPGA hardware structure based on the CORDIC operator named circular rotation is proposed and implemented on an FPGA chip. Finally, some comparison of the proposed CORDIC-based FPGA hardware method and the software method are presented. We can see that the proposed hardware method significantly reduces the processing time to generate gait trajectories of a biped robot.     

基于自适应模糊逻辑和神经网络的双足机器人控制研究

在双足机器人行走控制中,为了改善系统的行走性能,提出了一种基于RBF神经网络前馈控制的力矩补偿控制方法。该方法将自适应模糊控制和神经网络逆模控制有效地结合起来,利用神经网络来逼近系统的逆动力学模型,提高系统了的控制性能,改善了机器人的行走特性。     

DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking

In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walking. We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait. We analyze the stability performance of this gait and use the stability margin to choose between two candidate step sequences, Crawl-1 and Crawl-2. Next, we perform a force/torque analysis for the redundant closedchain system in the Ski-Type gait, and determine the joint torques by minimizing the total energy consumption. Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform. Finally, we compare our experimental results with biped walking to validate the SkiType gait. We also present our team performance in the trials of the Robotics Challenge.     

基于多传感器信息的双足机器人步行系统的研究

提出了一种基于多传感器信息和实时修正算法的双足机器人分级递阶行走控制结构。在系统设计中,充分考虑零力矩点（ZMP）稳定性规则以及机器人行走时所受的其它物理性约束条件。为提高机器人对不平整路面的鲁棒性和克服系统建模误差,行走控制系统中采用了鲁棒地面反力控制器和基于地面反力最优规划的姿态控制策略。     

Methods for the Construction and Realization of a Humanoid Robot's Simulation Platform

This paper proposes a method of humanoid robot data structure definition based on the characteristics of a graph with tree structure. It applies the depth-first search algorithm to traverse and uses screw theory and chain of multiplication to describe the robot's postures. The platform references zero moment point theory as the stability constraint of the robot's dynamic walking and plans the gaits accordingly. It also realizes the visualization of motion control. This study provides superior means and methods to the evolution of a humanoid robot.     

两足步行椅机器人的稳定性控制

对两足步行椅机器人的人在环中的控制系统的稳定性控制进行了初步研究,对这种系统的特殊性进行了分析。运用零力矩点（ZMP）的稳定判据方法研究了步行椅机器人行走过程中乘客移动对系统稳定性的影响,对影响系统稳定性的乘客摆动角、角速度及角加速度参数进行了仿真实验和分析,在此基础上研究了机器人对乘客的不稳定因素的补偿性控制并进行了仿真实验。实验结果表明,在实时控制中增加对乘客的位姿控制,可以在尽量减小步态调整幅度的同时很好地保证系统的稳定性。     

Identification and evaluation of corporations for merger and acquisition strategies using patent information and text mining

This paper proposes a framework to identify and evaluate companies from the technological perspective to support merger and acquisition (M&A) target selection decision-making. This employed a text mining-based patent map approach to identify companies which can fulfill a specific strategic purpose of M&A for enhancing technological capabilities. The patent map is the visualized technological landscape of a technology industry by using technological proximities among patents, so companies which closely related to the strategic purpose can be identified. To evaluate the technological aspects of the identified companies, we provide the patent indexes that evaluate both current and future technological capabilities and potential technology synergies between acquiring and acquired companies. Furthermore, because the proposed method evaluates potential targets from the overall corporate perspective and the specific strategic perspectives simultaneously, more robust and meaningful result can be obtained than when only one perspective is considered. Thus, the proposed framework can suggest the appropriate target companies that fulfill the strategic purpose of M&A for enhancing technological capabilities. For the verification of the framework, we provide an empirical study using patent data related to flexible display technology.     

Honda humanoid robots development

Honda has been doing research on robotics since 1986 with a focus upon bipedal walking technology. The research started with straight and static walking of the first prototype two-legged robot. Now, the continuous transition from walking in a straight line to making a turn has been achieved with the latest humanoid robot ASIMO. ASIMO is the most advanced robot of Honda so far in the mechanism and the control system. ASIMO's configuration allows it to operate freely in the human living space. It could be of practical help to humans with its ability of five-finger arms as well as its walking function. The target of further development of ASIMO is to develop a robot to improve life in human society. Much development work will be continued both mechanically and electronically, staying true to Honda's 'challenging spirit'.     

Human Gait Acquisition and Characterization

This paper analyzes human motion, more specifically the human gait in the sagittal plane. A video camera is used to acquire images of a walking person, fitted with a set of white light-emitting diodes (LEDs). The acquired trajectories of the light points are then used to specify joint trajectories in a biped robot. To analyze the stability of the human gait, a system was also developed to acquire the center of pressure (CoP). This system uses eight force sensors, four under each foot. The influence of the human torso angle on the CoP position during walking was confirmed. Some experiments were carried out on a biped robot, and the results show that the acquired human gait can be used in a biped robot, after scale conversion.      

专利地图与TRIZ融合技术创新指标体系构建及影响因素分析

梳理专利地图与TRIZ融合技术创新的流程,构建其影响因素指标体系。应用粗糙集理论识别专利地图与TRIZ融合技术创新的关键影响因素,并进行实证研究。研究结果表明,粗糙集方法在定量分析处理模糊和不确定性知识方面具有优越性;且在运用专利地图与TRIZ融合技术创新方法进行技术创新时,专利数据源准确性、完整性,专利分析结果有效性和技术创新经济效益是影响企业技术创新的关键因素,研究结果符合企业技术创新实际情况。     

两足步行机器人研究

介绍了空间运动型两足步行机器人控制技术的近期研究成果，给出了跨越障碍，上下斜坡、前向及侧向动态步行的步态综合与控制算法，并得到了实验验证。     

带躯干变刚度双足机器人的周期行走控制

研究了带躯干双足机器人平面稳定行走控制问题。改进传统的弹簧-质点模型,得到带躯干的双足机器人模型,通过控制髋关节施加力矩和改变弹簧腿的刚度,使得系统收敛到期望步态。针对系统模型的非线性和强耦合特征,采用反馈线性化方法将系统的动力学模型转化成线性系统,采用PD控制和P控制对机器人的躯干倾角和髋关节轨迹进行整体控制。在理论分析的基础上,对控制方法进行了数值仿真研究。仿真结果表明:该文采用的反馈线性化和变刚度控制方法可以实现带躯干双足机器人的稳定行走;与基于时间轨迹的控制方法相比,该文基于空间轨迹的控制器对各种外力干扰具有良好的抵抗能力;控制器对躯干的倾角变化具有适应性;当模型不确定时控制器表现出优异的鲁棒性。     

Implementation of modified chaotic invasive weed optimization algorithm for optimizing the PID controller of the biped robot

The present research work involves the implementation of Modified Chaotic Invasive Weed Optimization (MCIWO) algorithm for optimizing the gains of torque based proportional integral and derivative (PID) controller used to control the motors of the biped robot while walking on flat surface. While designing the controller, the dynamics of the biped robot has been derived using the well-known Lagrange-Euler (L-E) formulation. Subsequently, manual tuning procedure is employed to find the ranges of the gains of PID controller used in the developed algorithm. Once it is optimized, the effectiveness of the proposed algorithm is then compared with the Differential Evolution (DE) algorithm, in terms of variation of error, torque required, zero moment point (ZMP) and dynamic balance margin (DBM) of the biped robot. It has been observed that the MCIWO algorithm tuned PID controller is found to perform better than DE tuned controller. Further, the optimal gait obtained through the developed algorithm is validated by executing it on the real robot. It has been observed that the robot has successfully negotiated the flat terrain with the gaits obtained by the optimal PID controller.     

一种新型的机器人模式--异构双腿行走机器人

单腿膝上截肢的残疾人欲站立行走,假腿便要成为他们身体的重要组成部分。这时人的双腿便是一种异构双腿的形式。先进的科学技术已经有可能让假腿具有智能,自动跟随健康腿的步态,使得残疾人“活动自如”。为了给智能假肢的研究提供合理的研究平台,也为了应用多智能体协调与分布式控制技术研究双足走行问题,本文提出的异构双腿行走机器人便成为最佳的研究载体。本文详细阐述了这种新型机器人的机构方案、开发意义、研究内容与关键技术等。     

用磁流变阻尼器控制异构双腿机器人的仿真研究

介绍了磁流变阻尼器在异构双腿行走机器人中的新应用.首先给出了仿生腿选用MR阻尼器的依据,建立了修正的Sigmoid阻尼器模型;然后对阻尼器安装位置进行了优化;最后对BRHL进行了步态跟随优化及迭代学习控制仿真.结果表示,基于MR阻尼器控制的仿生腿能够很好的实现对人工腿的步态跟随,具有较好的仿人特性.     

基于B样条曲线的两足机器人仿生越障步行模式实现方法

两足机器人在崎岖不平的地面上行走时,需要根据地形特征产生相应的越障步行运动。从仿生学角度入手,提出了利用B样条曲线规划越障步态的参数化设计新方法。该方法引入了起步角和落步角的新概念,构造3段三次均匀B样条曲线,建立了机器人仿生越障运动模型,并进行了平稳越障运动特性的规划。基于时空运动特性的仿真结果表明,通过设计参数的合理选取可以获得运动性能良好的仿生越障步行模式。     

仿人型服务机器人双臂动作示教及评估研究

目的 基于自主研发的仿人型双臂服务机器人,研究体感示教及动作再现技术,并评估机器人拟人动作的合理性.方法 首先根据机器人的构型,利用D-H法对机器人进行运动学建模.然后设定6种日常生活中常见的人体上肢动作,利用Kinect V2动作捕捉设备获取真人演示动作数据,将臂形角作为冗余量进行运动学逆解,求得机器人所需关节角,使机器人能够复现人体动作.之后基于恐怖谷理论,结合层次分析法和语义分析法,提出评估方法,评估机器人复现的动作.结果 机器人以拟人的姿态复现了人体示教动作,评估结果显示,不同类型的动作会让受试者产生不同的心理感受.结论 对于仿人型双臂服务机器人而言,体感示教是一种自然高效的示教方式,由此产生的行为符合用户心理预期,为服务机器人融入日常生活提供了理论依据.     

The experimental humanoid robot H7: a research platform for autonomous behaviour

This paper gives an overview of the humanoid robot 'H7', which was developed over several years as an experimental platform for walking, autonomous behaviour and human interaction research at the University of Tokyo. H7 was designed to be a human-sized robot capable of operating autonomously in indoor environments designed for humans. The hardware is relatively simple to operate and conduct research on, particularly with respect to the hierarchical design of its control architecture. We describe the overall design goals and methodology, along with a summary of its online walking capabilities, autonomous vision-based behaviours and automatic motion planning. We show experimental results obtained by implementations running within a simulation environment as well as on the actual robot hardware.