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51. 发明授权

US06985111B2 Printed circuit board and wireless communication apparatus 失效
标题翻译：印刷电路板和无线通信设备
公开(公告)号：US06985111B2
公开(公告)日：2006-01-10
申请号：US10717192
申请日：2003-11-20
申请人： Tsutomu Hara , Takashi Matsumoto , Hideki Osaka , Hitoshi Yokota , Kenji Kashiwagi
发明人： Tsutomu Hara , Takashi Matsumoto , Hideki Osaka , Hitoshi Yokota , Kenji Kashiwagi
IPC分类号： H01Q1/24
CPC分类号： H01Q1/526 , H05K1/0218 , H05K1/0237 , H05K1/141 , H05K2201/09309 , H05K2201/09618
摘要： A printed circuit board with reduced noise effects and without the need to increase the distance between a noise source and a wireless communication board. The circuit board includes multilayer structural conductive layers having a first conductive plane connected to power supply potential and a second conductive plane connected to ground potential. The first and second conductive planes are formed such that an electric field generated by a potential difference between the first conductive plane and the second conductive plane is concentrated on one side of one of the first conductive plane and the second conductive plane. The conductive plane associated with the concentrated electric field and the wireless communication board are on different sides relative to the conductive plane that is not associated with the concentrated electric field.
摘要翻译：一种印刷电路板，具有降低的噪音影响，无需增加噪声源与无线通信板之间的距离。电路板包括具有连接到电源电位的第一导电平面和连接到地电势的第二导电平面的多层结构导电层。第一和第二导电平面形成为使得由第一导电平面和第二导电平面之间的电位差产生的电场集中在第一导电平面和第二导电平面之一的一侧。与集中电场相关联的导电平面和无线通信板相对于与集中电场不相关的导电平面在不同的一侧。

52. 发明授权

US06967456B2 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US06967456B2
公开(公告)日：2005-11-22
申请号：US10499117
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032 , F16F9/04
CPC分类号： F16F9/0481 , B25J19/0091 , B62D57/032
摘要： A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow/outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state. Furthermore, during the bag-like member 19 in the inflating state during the lifting state of the foot mechanism 6, by controlling timing when the solenoid valve 27 is switched from a valve opening state to a valve closing state, a height of the bag-like member 19 in a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.
摘要翻译：设置在机器人腿部的脚部机构6中的着陆减震装置18包括在脚部机构6的底面侧的可膨胀且可压缩的袋状构件19（可变容量元件）。袋状构件19由橡胶等弹性材料构成。大气中的空气可以通过设置有电磁阀27等的流入/流出装置20流入和流出袋状构件19。在脚部机构6的着陆状态下，并且在脚部机构从着陆状态转移到提升状态之后的状态下，电磁阀27关闭，以将袋状部件19维持在压缩状态。此外，在脚部机构6的提升状态期间处于充气状态的袋状部件19中，通过控制电磁阀27从开阀状态切换到关闭状态的定时，压缩方向的板状构件19被控制为适合于步态机器人的高度。因此，能够容易地确保机器人的姿势稳定性，同时减少有腿可动机器人的腿部的着陆运动中的冲击负荷，并且还可以实现轻量化的构造。

53. 发明授权

US06962220B2 Leg joint assist device for leg type movable robot 有权
标题翻译：腿式可动机器人腿部关节辅助装置
公开(公告)号：US06962220B2
公开(公告)日：2005-11-08
申请号：US10490802
申请日：2002-09-24
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto
IPC分类号： A63H11/18 , B25J5/00 , B25J19/00 , F16F9/06 , G06F19/00
CPC分类号： F16F9/06 , B25J19/0008 , B25J19/0091 , Y10T74/20305
摘要： An assist device that applies an auxiliary driving force to a joint in parallel with a driving force of a joint actuator between a thigh portion and a crus portion, which are a pair of link members of a leg. The assist device generates the auxiliary driving force by use of spring device, such as a solid spring or an air spring. A member supporting a rod member connected to the spring device is provided with a device for transmitting a bending and stretching motion of the leg at the joint (a relative displacement motion between the thigh portion and the crus portion) to the spring device to generate an elastic force of the spring device, and for discontinuing the transmission of the bending and stretching motion to the spring device. This transmitting device is controlled in accordance with a gait of a robot. Thus, a burden on the joint actuator is reduced where necessary and favorable utilization efficiency of energy can be stably ensured.
摘要翻译：一种辅助装置，其将辅助驱动力与作为腿部的一对连杆构件的腿部和腿部之间的关节致动器的驱动力平行的接头施加。辅助装置通过使用诸如固体弹簧或空气弹簧的弹簧装置产生辅助驱动力。支撑连接到弹簧装置的杆构件的构件设置有用于将腿部在关节处的弯曲和拉伸运动（大腿部分和小腿部分之间的相对位移运动）传递到弹簧装置的装置，以产生弹簧装置的弹性力，以及用于中止弯曲和拉伸运动到弹簧装置的传递。该发送装置根据机器人的步态进行控制。因此，必要时能够减轻关节致动器的负担，能够稳定地确保能量利用效率。

54. 发明申请

US20050220926A1 Die and die device 失效
标题翻译：模具和模具设备
公开(公告)号：US20050220926A1
公开(公告)日：2005-10-06
申请号：US10517318
申请日：2003-06-17
申请人： Kinshiro Naito , Masayuki Shimizu , Shigeru Endo , Takashi Matsumoto , Hiroshi Nakai , Hiroyuki Kobayashi
发明人： Kinshiro Naito , Masayuki Shimizu , Shigeru Endo , Takashi Matsumoto , Hiroshi Nakai , Hiroyuki Kobayashi
IPC分类号： B21D28/34 , B21D45/00 , B26D7/18 , B26F1/40 , B21D28/00
CPC分类号： B26D7/1854 , B21D28/34 , B21D45/003 , B26F1/40 , B26F1/44 , Y10T83/0443 , Y10T83/0453 , Y10T83/2066 , Y10T83/2068 , Y10T83/9416 , Y10T83/9425 , Y10T83/9437
摘要： A die body includes a die hole for punching a work. A core is provided in the die body. The core includes a discharge hole which is in communication with the die hole. The core is provided with a plurality of fluid injection ports through which fluid is injected downward of the discharge hole. The die body is provided with inflow ports through which compressed fluid flows into the fluid injection ports. The core is made of resin. The discharge hole is tapered toward its upper side. An outer peripheral surface of the die body is provided with a peripheral groove which is in communication with the inflow ports.
摘要翻译：模具包括用于冲压工件的模孔。在模具体中提供芯。芯部包括与模具孔连通的排出孔。芯部设置有多个流体注入口，流体通过该流体注入口向排放孔的下方注入。模具体设置有流入端口，压缩流体通过该流入口流入流体注入口。核心由树脂制成。排出孔朝向其上侧逐渐变细。模体的外周面设置有与流入口连通的周向槽。

55. 发明申请

US20050179417A1 System for estimating attitude of leg type moving robot itself 有权
标题翻译：用于估计腿型移动机器人本身姿态的系统
公开(公告)号：US20050179417A1
公开(公告)日：2005-08-18
申请号：US10511451
申请日：2003-04-28
申请人： Toru Takenaka , Takashi Matsumoto
发明人： Toru Takenaka , Takashi Matsumoto
IPC分类号： B25J13/08 , B62D57/02 , B62D57/032 , G01C19/00 , G01C21/16 , G01P15/18 , B25J5/00
CPC分类号： B62D57/032 , B25J13/088 , B62D57/02 , G01C21/16
摘要： A system for estimating an acceleration of a motion of an accelerometer itself that is generated by a motion of a robot 1, using amounts of motional states of the robot, including a desired motion of a desired gait, a detected value of a displacement of a joint, and a desired value of the displacement of the joint of the robot 1 having a gyro sensor (angular velocity sensor) and an accelerometer installed on a body 3 or the like thereof, and for estimating an actual posture of a predetermined part, such as the body 3, on the basis of the acceleration of the motion, the detected acceleration value of the accelerometer, and the angular velocity detected value of the angular velocity sensor. An error of the estimated value of the actual posture of the predetermined part is estimated on the basis of a difference between the detected acceleration value and the motional acceleration, and then an input of an integrating means for integrating angular velocity detected values is corrected to bring the aforesaid error close to zero so as to obtain an output of the integrating means as an estimated value of the actual posture. Thus, an actual posture of a predetermined part is accurately estimated.
摘要翻译：一种用于估计由机器人1的运动产生的加速度计本身的运动的加速度的系统，使用机器人的运动状态量，包括所需步态的期望运动，检测到的位移的值关节，以及具有安装在主体3等上的具有陀螺仪传感器（角速度传感器）和加速度计的机器人1的关节的位移的期望值，并且用于估计预定部分的实际姿势，作为主体3，基于运动的加速度，检测到的加速度计的加速度值和角速度传感器的角速度检测值。基于检测到的加速度值和运动加速度之间的差来估计预定部分的实际姿势的估计值的误差，然后校正用于积分角速度检测值的积分装置的输入以带来上述误差接近零，以便获得积分装置的输出作为实际姿势的估计值。因此，精确地估计预定部分的实际姿势。

56. 发明授权

US06928492B1 Computer I/O device access method 失效
标题翻译：计算机I / O设备访问方式
公开(公告)号：US06928492B1
公开(公告)日：2005-08-09
申请号：US09830588
申请日：2000-08-01
申请人： Takashi Matsumoto
发明人： Takashi Matsumoto
IPC分类号： G06F13/10 , G06F3/00 , G06F9/46 , G06F12/02 , G06F12/10 , G06F13/14
CPC分类号： G06F12/1081 , G06F12/0292 , G06F2212/206
摘要： Multiple applications enable communications I/O operation and an I/O interface operations simultaneously at a low cost. The process A requests an OS to allocate an area where a request to an I/O device is put. The OS also allocates an unused context ID for the I/O device to the process A, maps a memory page corresponding to the context ID as an address for accessing the pending register for the process A, and stores a pointer (a physical address) to a request storing area of the process A into an embedded memory in the I/O device. The process A writes contents of requests in its own request storing area, and the OS notifies the I/O device that there is an unprocessed request by use of the address for the pending register. The I/O device reads out the contents of the request storing area by a DMA engine, and realizes the request.
摘要翻译：多个应用使得通信I / O操作和I / O接口以低成本同时工作。进程A请求操作系统分配放置I / O设备的请求的区域。 OS还为进程A分配I / O设备的未使用的上下文ID，将与上下文ID相对应的存储器页映射为用于访问进程A的挂起寄存器的地址，并存储指针（物理地址）到处理A的请求存储区域到I / O设备中的嵌入式存储器中。处理A将请求的内容写入其自己的请求存储区域，并且OS通过使用未决寄存器的地址来通知I / O设备存在未处理的请求。 I / O设备通过DMA引擎读取请求存储区域的内容，并实现该请求。

57. 发明申请

US20050115747A1 Gait generation device and control device for leg type movable robot 有权
标题翻译：脚踏式移动机器人步态生成装置及控制装置
公开(公告)号：US20050115747A1
公开(公告)日：2005-06-02
申请号：US10499517
申请日：2002-12-26
申请人： Toru Takenaka , Takashi Matsumoto
发明人： Toru Takenaka , Takashi Matsumoto
IPC分类号： B62D57/02 , B62D57/032 , B62D51/06
CPC分类号： B62D57/032 , B62D57/02
摘要： When generating a gait for a legged mobile robot 1 which has floating periods in which all the legs 2 of the robot float in the air and landing periods in which any of the legs 2 is in contact with the floor appearing alternately, a desired ZMP is set at any point in time in the floating periods and the landing periods, and a desired gait is generated in such a manner that the horizontal component of the moment produced about the desired ZMP by the resultant force of gravity and an inertial force caused by a movement of the robot with the desired gait is 0. The desired ZMP is set to be substantially continuous for all the periods in the gait. Furthermore, as a dynamics model for determining the desired gait, an approximate model is used which is arranged so that the moment, about a certain point of application, of the resultant force of the inertial force and gravity calculated using the model depends on the position of the point of application.
摘要翻译：当生成具有浮动周期的有腿移动机器人1的步态时，其中机器人的所有腿部2在空气中浮动，任何腿部2与地板交替地接触的着陆期间，期望的ZMP为设置在浮动周期和着陆阶段的任何时间点，并且以这样的方式产生期望的步态，即通过合成的重力和由一个合成的力引起的惯性力产生在期望的ZMP周围的力矩的水平分量具有期望步态的机器人的移动为0.所期望的ZMP被设置为在步态中的所有时段基本连续。此外，作为用于确定期望的步态的动力学模型，使用近似模型，其被布置成使得使用该模型计算的惯性力和重力的合力大约在某一施加点处的力矩取决于位置的应用点。

58. 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。

59. 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。

60. 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.

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