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51. 发明申请

US20050110448A1 Controller of legged mobile robot 有权
标题翻译：腿式移动机器人控制器
公开(公告)号：US20050110448A1
公开(公告)日：2005-05-26
申请号：US10501562
申请日：2003-01-20
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： B62D57/02 , B62D57/032 , B25J5/00
CPC分类号： B62D57/032 , B62D57/02
摘要： A control device for a legged mobile robot, in which a correction manipulated variable of a desired floor reaction force (desired floor reaction force's moment) is subsequently determined based on an error between an actual state quantity, such as a body posture angle, of the robot 1 and a desired state quantity of the same, and at the same time, a desired movement of the robot 1 is subsequently determined by the use of the correction manipulated variable and a dynamic model. At this time, a friction force component, which defines a frictional force between the robot 1 and a floor such as a translation floor reaction force's horizontal component, is set as a variable to be limited, and an allowable range of the variable to be limited is set. The desired movement is determined so that the variable to be limited remains within the allowable range and a resultant force of an inertial force and gravity, generated by the movement of the robot 1 on the dynamic model, balances with a floor reaction force obtained by correcting the desired floor reaction force by the correction manipulated variable. The desired movement is determined by adjusting a plurality of movement modes having mutually different generation ratios of a floor reaction force's moment and a translation floor reaction force.
摘要翻译：一种用于腿式移动机器人的控制装置，其中随后基于诸如身体姿势角度的实际状态量之间的误差来确定期望的地板反作用力（所需的地板反作用力的力矩）的校正操作变量，机器人1和所需的状态量，同时，随后通过使用校正操作变量和动态模型来确定机器人1的所需移动。此时，将限定机器人1和诸如平移平台反作用力的水平分量的地板之间的摩擦力的摩擦力分量设定为要限制的变量，并且限制变量的允许范围被设置。确定期望的运动，使得要限制的变量保持在允许范围内，并且通过机器人1在动态模型上的运动而产生的惯性力和重力的合力与通过校正获得的底板反作用力平衡通过校正操作变量所需的地面反作用力。期望的移动通过调整具有相互不同的地板反作用力的力矩和平移平台反作用力的发生率的多个移动模式来确定。

52. 发明申请

US20050055133A1 Gait generation device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的步态生成装置
公开(公告)号：US20050055133A1
公开(公告)日：2005-03-10
申请号：US10499516
申请日：2002-12-26
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： B62D57/02 , B62D57/032 , G06F19/00
CPC分类号： B62D57/032 , B62D57/02
摘要： A gait generation device for generating a desired gait which includes floating periods in which all the legs 2, 2 of a legged mobile robot 1 float in the air and landing periods in which at least one leg 2 is in contact with a floor which appear alternately generates the desired gait in such a manner that, at least when shifting from the floating period to the landing period, the velocity of an end portion 22 of a landing leg with respect to the floor and the acceleration thereof with respect to the floor is substantially 0 at the instant of landing. After both the velocity of the end portion of the leg with respect to the floor and the acceleration thereof with respect to the floor are determined to be substantially 0, a movement of the body of the robot with the desired gait is determined in such a manner that the horizontal component of a moment produced about the desired ZMP by the resultant force of gravity and an inertial force applied to the robot 1 is substantially 0. This eliminates the landing impact.
摘要翻译：一种用于产生期望的步态的步态生成装置，其包括浮动周期，其中腿式可移动机器人1的所有腿部2,2在空中漂浮，并且着陆期间中至少一个腿部2与交替出现的地板接触产生期望的步态，使得至少在从浮动周期转移到着陆阶段时，着陆腿相对于地板的端部22的速度和相对于地板的加速度基本上是 0在登陆的时刻。在腿部相对于地面的端部的速度和相对于地板的加速度被确定为大致为零之后，以这种方式确定机器人的主体以期望的步态的移动通过合成重力和施加到机器人1的惯性力围绕期望的ZMP产生的力矩的水平分量基本为0.这消除了着陆冲击。

53. 发明授权

US06658997B2 Apparatus for producing waste compressed solid 失效
公开(公告)号：US06658997B2
公开(公告)日：2003-12-09
申请号：US09990280
申请日：2001-11-23
申请人： Takashi Matsumoto
发明人： Takashi Matsumoto
IPC分类号： B30B1530
CPC分类号： B30B9/301 , B30B9/327
摘要： An apparatus for producing a waste compressed solid according to the invention is provided with a hopper having an opening for receiving a waste in an upper side thereof and a discharge port in a bottom side, a feed screw conveyor for transferring the waste in the hopper to the discharge port, and a compression chamber connected to the discharge port of the hopper and having a compressing means. A shaft of the feed screw conveyor is formed in a taper shape so as to become gradually narrow toward a side of the discharge port of the hopper. Further, draw screw conveyors are provided with the hopper in a symmetrical manner so as to cross to the feed screw conveyor. A waste such as a metal chip or the like supplied to the hopper is drawn to a side of the feed screw conveyor by the draw screw conveyor, is fed to the compression chamber by the feed screw conveyor and is compressed by a piston. The waste compressed solid is continuously produced by continuously repeating the operation.

54. 发明授权

US06528168B1 Carbon/silicon carbide composite material 有权
标题翻译：碳/碳化硅复合材料
公开(公告)号：US06528168B1
公开(公告)日：2003-03-04
申请号：US09381645
申请日：1999-09-29
申请人： Takashi Matsumoto , Masaaki Kawakami
发明人： Takashi Matsumoto , Masaaki Kawakami
IPC分类号： C04B4187
CPC分类号： C04B41/009 , B22D41/32 , C04B41/5059 , C04B41/87 , C04B2111/00353 , Y10T428/26 , Y10T428/30 , C04B41/0072 , C04B41/4517 , C04B41/4556 , C04B41/48 , C04B41/5001 , C04B41/5058 , C04B41/457 , C04B35/52
摘要： A carbon/silicon composite material wherein a silicon carbide containing carbon layer which is formed by silicon and boron carbide being penetrated from a surface of a carbon substrate into the inside thereof to allow the silicon and carbon of the carbon substrate to react with each other so as to be converted into silicon carbide and in which the silicon carbide is dispersed generally uniformly along a depth direction is formed on the carbon substrate as a first layer, the silicon carbide containing carbon layer having a thickness of not less than 1 mm.
摘要翻译：一种碳/硅复合材料，其中由碳和碳化硼形成的含碳化硅的碳层从碳衬底的表面渗透到其内部，以使碳衬底的硅和碳彼此反应，作为第一层，在作为第一层的碳基板上形成碳化硅，其中碳化硅沿着深度方向大致均匀地分散，所述含碳化硅的碳层的厚度不小于1mm。

55. 发明授权

US06501007B1 Method of dwarfing plants 失效
标题翻译：矮化植物的方法
公开(公告)号：US06501007B1
公开(公告)日：2002-12-31
申请号：US09335586
申请日：1999-06-18
申请人： Motoyuki Ashikari , Atsushi Yoshimura , Masahiro Yano , Takashi Matsumoto , Takuji Sasaki , Jianzhong Wu , Kimiko Yamamoto
发明人： Motoyuki Ashikari , Atsushi Yoshimura , Masahiro Yano , Takashi Matsumoto , Takuji Sasaki , Jianzhong Wu , Kimiko Yamamoto
IPC分类号： C12N1509
CPC分类号： C12N15/8261 , C07K14/415 , Y02A40/146
摘要： A method of dwarfing plants comprises controlling the expression of the genes involved in the dwarfism of the plants is provided. A molecule to be utilized for dwarfing plants is also provided. A single gene that causes the d1 mutation, which results in the dwarf abnormality of rice, was identified and isolated from a vast chromosomal region by the map-based cloning technique. This method enables, for example, creating ornamental plants and agricultural products with new commercial values, and therefore is useful especially in the areas of agriculture and horticulture.
摘要翻译：矮化植物的方法包括控制涉及植物侏儒症的基因的表达。还提供了用于矮化植物的分子。通过基于地图的克隆技术，从广泛的染色体区域鉴定并分离导致导致水稻矮化异常的d1突变的单一基因。该方法例如可以创造具有新商业价值的观赏植物和农产品，因此尤其在农业和园艺领域尤其有用。

56. 发明授权

US06498319B1 Method and an apparatus for manufacturing multi-layer boards using laser light 失效
标题翻译：使用激光制造多层板的方法和装置
公开(公告)号：US06498319B1
公开(公告)日：2002-12-24
申请号：US09631949
申请日：2000-08-03
申请人： Takashi Matsumoto , Shinichi Kazui , Masayuki Kawaharata , Madoka Tanouchi , Masatake Muranaga
发明人： Takashi Matsumoto , Shinichi Kazui , Masayuki Kawaharata , Madoka Tanouchi , Masatake Muranaga
IPC分类号： B23K2638
CPC分类号： H05K3/0029 , B23K26/40 , B23K2101/42 , B23K2103/172 , B23K2103/52 , B32B18/00 , B32B38/0004 , B32B2310/0843 , C04B35/185 , C04B2235/665 , C04B2237/348 , C04B2237/365 , C04B2237/74 , H01L21/481 , H05K1/0306 , H05K3/0052 , H05K3/4611 , H05K3/4629 , H05K2203/163
摘要： A plurality of green sheets are prepared, and at least one board pattern is formed on each of the sheets. The sheets are laminated and bonded with each other to form a multi-layer board. The unsintered multi-layer board is cut by irradiating the periphery of at least one board pattern on the surface of the multi-layer board with laser light. When the multi-layer board is cut, the width of the cut portion of the multi-layer board is measured. The cutting width is held constant by controlling the velocity at which the multi-layer board is cut, according to the measured width. Thus a section in the multi-layer board where at least one board pattern is formed is cut away from the other section of the multi-layer board. The cut away multi-layer board is then sintered. As a result, a multi-layer board is produced.
摘要翻译：制备多个生片，并且在每个片上形成至少一个板图案。将这些片层压并粘合在一起形成多层板。通过用激光照射多层板的表面上的至少一个板图案的周边来切割未烧结的多层板。当多层板被切割时，测量多层板的切割部分的宽度。根据测量的宽度，通过控制多层板被切割的速度来保持切割宽度不变。因此，在多层板中形成有至少一个板图案的部分被切割成多层板的另一部分。然后将切割的多层板烧结。结果，制造了多层板。

57. 发明授权

US06469864B2 Disk drive having a resin cover improved in electromagnetic protection characteristics 失效
标题翻译：具有树脂盖的磁盘驱动器改善了电磁保护特性
公开(公告)号：US06469864B2
公开(公告)日：2002-10-22
申请号：US09208051
申请日：1998-12-09
申请人： Hideaki Kamezawa , Takashi Matsumoto
发明人： Hideaki Kamezawa , Takashi Matsumoto
IPC分类号： G11B1700
CPC分类号： G11B33/121 , G11B25/043 , G11B33/08 , G11B33/1493
摘要： A disk drive includes a housing having a base and a cover fixed to the base, a disk rotatably mounted in the housing and having a plurality of tracks, a head for reading/writing data on the disk, and an actuator for moving the head across the tracks of the disk. The cover is composed of a molded resin and a metal sheet integrally embedded in the molded resin.
摘要翻译：磁盘驱动器包括具有基座和固定到基座的盖的壳体，可旋转地安装在壳体中并且具有多个轨道的盘，用于在盘上读取/写入数据的头部以及用于使头部移动的致动器磁盘的轨道。盖由模制树脂和一体地嵌入模制树脂中的金属片组成。

58. 发明授权

US06332372B1 Arm structure for man type working robots 有权
标题翻译：人型工作机器人臂结构
公开(公告)号：US06332372B1
公开(公告)日：2001-12-25
申请号：US09581220
申请日：2000-06-22
申请人： Toru Takenaka , Takayuki Kawai , Tadaaki Hasegawa , Takashi Matsumoto , Hiroshi Gomi , Hideaki Takahashi
发明人： Toru Takenaka , Takayuki Kawai , Tadaaki Hasegawa , Takashi Matsumoto , Hiroshi Gomi , Hideaki Takahashi
IPC分类号： B25J906
CPC分类号： B25J9/06 , B25J17/025 , Y10T74/20329
摘要： An arm structure for anthropomorphic robots minimizes the occurrence of a singularity state of a shoulder joint assembly while the arm of the anthropomorphic robot is normally working, for thereby allowing the arm to operate smoothly. The position and posture of first through third joints (11), (13), (15) of a shoulder joint assembly (5) and the position of an elbow joint assembly (6) with respect to the third joint (15) are established such that the elbow joint assembly (6) is located above a horizontal plane lying through the point of intersection of the axes (10), (12), (14) of the first through third joints (11), (13), (15), while the shoulder joint assembly (5) is operated into a singularity state wherein the first axis (10) of the first joint (11) and the third axis (14) of the third joint (15) are aligned with each other and the elbow joint assembly (6) is positioned laterally of a torso (1).
摘要翻译：用于拟人机器人的臂结构使人形机器人的臂正常工作时，使肩关节组件的奇点状态的发生最小化，从而允许手臂平稳地操作。建立肩关节组件（5）的第一至第三关节（11），（13），（15）和肘关节组件（6）相对于第三关节（15）的位置和姿势使得肘关节组件（6）位于通过第一至第三关节（11），（13），（13），（13）的轴线（10），（12），（14） 15），而肩关节组件（5）被操作成其中第一关节（11）的第一轴线（10）和第三关节（15）的第三轴线（14）彼此对准的奇点状态并且肘关节组件（6）位于躯干（1）的侧面。

59. 发明授权

US06194871B1 Charge and discharge control circuit and apparatus for secondary battery 有权
标题翻译：二次电池充放电控制电路及装置
公开(公告)号：US06194871B1
公开(公告)日：2001-02-27
申请号：US09556306
申请日：2000-04-24
申请人： Akira Haraguchi , Takashi Matsumoto
发明人： Akira Haraguchi , Takashi Matsumoto
IPC分类号： H01M1046
CPC分类号： H02J7/0031 , H02J2007/0037
摘要： One end of a resistor R1 is connected to a charger detection terminal OCV and the other end of the resistor R1 is connected to a base terminal of an NPN type bipolar transistor Q2 of open collector structure to thereby supply a driving bias current. An emitter terminal of the transistor Q2 is connected to a reference potential and a collector terminal of the transistor Q2 is connected to a gate terminal COUT of a charge control P type FET 204. Not only the resistor R1 but also a collector terminal of an NPN type bipolar transistor Q1 of an open collector structure is connected to the base terminal of the transistor Q2. An emitter terminal of the transistor Q1 is connected to the reference potential and an overcharge control signal from an overcharge control circuit 231 is connected to a base terminal of the transistor Q1. If a voltage of not less than a predetermined voltage value is applied to the charger detection terminal OCV, the transistor Q2 is turned on and makes the charge control P type FET 204 conductive to thereby charge a battery. When receiving the overcharge control signal, the transistor Q1 is turned on, bypasses a bias current of the transistor Q2 supplied from the charger detection terminal OCV and turns off the transistor Q2 to thereby prohibit charge operation.
摘要翻译：电阻器R1的一端连接到充电器检测端子OCV，电阻器R1的另一端与开路集电极结构的NPN型双极型晶体管Q2的基极端子连接，从而提供驱动偏置电流。晶体管Q2的发射极端子连接到参考电位，晶体管Q2的集电极端子连接到电荷控制P型FET 204的栅极端子COUT。不仅电阻器R1，而且NPN的集电极端子开路集电极结构的双极型晶体管Q1连接到晶体管Q2的基极。晶体管Q1的发射极端子连接到参考电位，并且来自过充电控制电路231的过充电控制信号连接到晶体管Q1的基极。如果向充电器检测端子OCV施加不小于预定电压值的电压，则晶体管Q2导通，并使电荷控制P型FET 204导通，从而对电池充电。当接收到过充电控制信号时，晶体管Q1导通，旁路从充电器检测端子OCV提供的晶体管Q2的偏置电流，并关断晶体管Q2，从而禁止充电操作。

60. 发明授权

US6147477A DC to DC converter producing output voltage exhibiting rise and fall characteristics independent of load thereon 失效
公开(公告)号：US6147477A
公开(公告)日：2000-11-14
申请号：US884082
申请日：1997-06-27
申请人： Mitsuo Saeki , Hidetoshi Yano , Hidekiyo Ozawa , Seiya Kitagawa , Toshiyuki Matsuyama , Takashi Matsumoto , Kyuichi Takimoto , Yoshiaki Sano
发明人： Mitsuo Saeki , Hidetoshi Yano , Hidekiyo Ozawa , Seiya Kitagawa , Toshiyuki Matsuyama , Takashi Matsumoto , Kyuichi Takimoto , Yoshiaki Sano
IPC分类号： H02M3/155 , G05F1/40 , H02M1/00 , H02M1/36 , H02M3/156
CPC分类号： H02M1/36 , H02M3/156 , H02M2001/008
摘要： A direct-current to direct-current conversion (DC/DC) apparatus includes a control circuit having an error amplifier for voltage control and controlling a direct-current to direct-current conversion based on a pulse width modulation control using an output of the error amplifier. The error amplifier inputs a voltage signal corresponding to an output voltage of a DC/DC result and a plurality of reference voltage signals. The DC/DC apparatus also includes a soft start capacitor to provide one of the plurality of reference voltage signals. The error amplifier amplifies a difference between the voltage signal corresponding to the output voltage of a DC/DC result and a voltage signal of a lower potential among the plurality of reference voltage signals and, based on the amplified output, carries out the pulse width modulation control. Furthermore, the control circuit includes a circuit for discharging charges corresponding to the output voltage of the DC/DC result when a power supply to the control circuit is turned off. By the constitution, it is possible to easily realize power turn-on/turn-off sequence controls without requiring any special logic circuit, and thus to control rise/fall characteristics of the output voltage without depending on the load.

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