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71. 外观设计

USD552571S1 Television set 有权
公开(公告)号：USD552571S1
公开(公告)日：2007-10-09
申请号：US29261807
申请日：2006-06-21
申请人： Yoshito Fujii , Tohru Ohtani , Hiroshi Gomi
设计人： Yoshito Fujii , Tohru Ohtani , Hiroshi Gomi

72. 发明申请

US20070210739A1 LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT 审中-公开
标题翻译： LEG联合协助手机移动机器人
公开(公告)号：US20070210739A1
公开(公告)日：2007-09-13
申请号：US11573922
申请日：2005-08-05
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Katsushi Tanaka
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Katsushi Tanaka
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J19/0091
摘要： In a state wherein a solenoid switching valve in a gas passage in communication with air chambers is closed, an assist device produces an assisting driving force by compression or expansion of a gas as a knee joint (specific joint) of a leg bends or stretches, and applies the produced assisting driving force to the knee joint. In a valve-open state of the solenoid switching valve, no assisting driving force is produced. The solenoid switching valve is constructed of a solenoid switching valve having a self-holding feature, and installed in the gas passage such that a pressure difference between air chambers acts in a valve closing direction of a valve element in a predetermined period during which the solenoid switching valve is closed. This arrangement effectively reduces the power consumption of the solenoid switching valve by a simple construction.
摘要翻译：在与气室连通的气体通道中的电磁切换阀关闭的状态下，辅助装置通过作为腿部弯曲或拉伸的膝关节（特定接头）的气体的压缩或膨胀产生辅助驱动力，并将产生的辅助驱动力施加到膝关节。在电磁换向阀的阀打开状态下，不产生辅助驱动力。电磁切换阀由具有自保持特征的电磁切换阀构成，并且安装在气体通道中，使得空气室之间的压力差在阀元件的阀闭合方向作用在预定时间段内，在螺线管切换阀关闭。这种布置通过简单的结构有效地降低了电磁开关阀的功耗。

73. 发明申请

US20060249314A1 Leg type mobile robot 有权
标题翻译：腿式移动机器人
公开(公告)号：US20060249314A1
公开(公告)日：2006-11-09
申请号：US10544305
申请日：2005-04-28
申请人： Toru Takenaka , Keizo Matsumoto , Hiroshi Gomi , Kazushi Hamaya
发明人： Toru Takenaka , Keizo Matsumoto , Hiroshi Gomi , Kazushi Hamaya
IPC分类号： B62D51/06
CPC分类号： F16F1/44 , B25J19/0091 , B62D57/032 , F16F3/12
摘要： A leg type mobile robot (R) including an body (R2), legs (R1) each connected to the body (R2) via a first joint (12, 13), and foots (R17) each connected to an end part of the leg part (R1) via a second joint (15, 16), the foot (17) including a foot portion (61) having a lower end part having a ground area (64, 66) grounded on a floor surface, the foot portion (61) including a plate spring part (62) supporting empty weight while bending at the time of being grounded.
摘要翻译：一种腿型移动机器人（R），其包括主体（R 2），经由第一接头（12,13）连接到主体（R 2）的腿部（R 1）和每个连接到主体通过第二接头（15,16）的脚部（R 1）的端部，脚部（17）包括具有底部部分（61）的脚部（61），底部部分具有接地区域（64,66）表面，所述脚部（61）包括在接地时弯曲时支撑空重的板弹簧部（62）。

74. 发明授权

US4234858A Voltage controlled oscillator with phase control circuits 失效
标题翻译：带相控电路的压控振荡器
公开(公告)号：US4234858A
公开(公告)日：1980-11-18
申请号：US923643
申请日：1978-07-11
申请人： Hiroshi Gomi
发明人： Hiroshi Gomi
IPC分类号： H03B5/36 , H04N9/455 , H04N9/535
CPC分类号： H03B5/366 , H04N9/455
摘要： A tank circuit including a quartz vibrator and a phase shifter connected to the tank circuit for forming a vector signal e.sub.1 from the tank circuit and a vector signal e.sub.2 delayed a predetermined angle from the signal e.sub.1. A differential circuit is used to subtract e.sub.1 from e.sub.2 thus forming a difference signal e.sub.3. The delayed signal e.sub.2 is inverted by a phase inverting circuit to obtain two signals e.sub.2 and -e.sub.2 which are applied to an addition circuit where their relative amplitude ratio is controlled. The addition circuit adds signal e.sub.3 to the signals e.sub.2 and e.sub.3 whose relative amplitude ratio has been controlled for producing a sum signal which is fed back to the tank circuit.
摘要翻译：包括石英振子和移相器的振荡电路，其连接到用于从振荡电路形成矢量信号e1的振荡电路，以及从信号e1延迟预定角度的矢量信号e2。使用差分电路从e2中减去e1，从而形成差分信号e3。延迟信号e2由相位反转电路反相，以获得施加到其相对振幅比被控制的加法电路的两个信号e2和-e2。加法电路将信号e3加到信号e2和e3上，信号e2和e3的相对幅度比已被控制，以产生反馈到储能电路的和信号。

75. 发明授权

US4227205A Hue and saturation control circuitry requiring single coupling capacitor 失效
标题翻译：色相和饱和度控制电路需要单耦合电容
公开(公告)号：US4227205A
公开(公告)日：1980-10-07
申请号：US842323
申请日：1977-10-14
申请人： Hiroshi Gomi
发明人： Hiroshi Gomi
IPC分类号： H03G3/02 , H03H11/20 , H04J3/00 , H04N9/45 , H04N9/455 , H04N9/64 , H04N9/66 , H04N9/68 , H04N9/535
CPC分类号： H04N9/643 , H04N9/455
摘要： A signal-processing circuit comprises a first gate circuit, a chrominance signal amplifier, a hue control circuit, means for reproducing a composite color signal, an AC coupling capacitor, and a second gate circuit. The first gate circuit receives a composite color signal consisting of chrominance signals and burst signals which are arranged alternately and then extracts the chrominance signals and burst signals from the composite color signal. The extracted chrominance signal is amplified by the chrominance signal amplifier, while the phase of the extracted burst signal is controlled by the hue control circuit. The outputs of the chrominance signal amplifier and the hue control circuit are added by said reproducing means, thereby reproducing a composite color signal. The AC coupling capacitor is coupled to the output of said means. The second gate circuit extracts from the output of the AC coupling capacitor chrominance signals and burst signals.
摘要翻译：信号处理电路包括第一门电路，色度信号放大器，色调控制电路，再现复合彩色信号的装置，交流耦合电容器和第二门电路。第一门电路接收由交替布置的色度信号和突发信号组成的复合颜色信号，然后从复合颜色信号中提取色度信号和突发信号。提取的色度信号由色度信号放大器放大，而提取的色同步信号的相位由色调控制电路控制。色度信号放大器和色调控制电路的输出由所述再现装置相加，从而再现复合颜色信号。 AC耦合电容耦合到所述装置的输出。第二门电路从AC耦合电容的色度信号和突发信号的输出中提取出来。

76. 发明授权

US4118741A Hue adjusting circuits 失效
标题翻译：色调调节电路
公开(公告)号：US4118741A
公开(公告)日：1978-10-03
申请号：US769784
申请日：1977-02-17
申请人： Hiroshi Gomi , Shinichiro Taguchi
发明人： Hiroshi Gomi , Shinichiro Taguchi
IPC分类号： H04N9/64 , H04N9/50 , H04N9/535
CPC分类号： H04N9/643
摘要： In a circuit for processing a chroma signal the chroma signal is applied to a demodulator through a first phase shifter. The burst signal is applied to an automatic phase adjusting circuit including a phase detection circuit and a voltage-controlled oscillator. The output of the phase adjusting circuit is applied to a hue adjusting circuit including a second phase shifter and a mixing circuit connected to receive the output of the phase adjusting circuit and the output of the second phase shifter. A control voltage is applied to the mixing circuit for controlling the relative amplitude of the two inputs applied to the mixing circuit. The output of the hue adjusting circuit is applied to the demodulator to act as the subcarrier signal for demodulating the chroma signal. The first and second phase shifters are each comprised of a resistor and a capacitor and formed on the same integrated circuit semiconductor substrate.
摘要翻译：在用于处理色度信号的电路中，色度信号通过第一移相器施加到解调器。突发信号被施加到包括相位检测电路和压控振荡器的自动相位调整电路。相位调整电路的输出被施加到包括第二移相器和混合电路的色调调整电路，该混合电路被连接以接收相位调整电路的输出和第二移相器的输出。控制电压被施加到混合电路，用于控制施加到混合电路的两个输入的相对幅度。色调调整电路的输出应用于解调器，作为解调色度信号的副载波信号。第一和第二移相器各自包括电阻器和电容器，并形成在同一集成电路半导体衬底上。

77. 发明授权

US08827375B2 Wheel, and friction drive device and omni-directional vehicle using the same 有权
标题翻译：车轮，摩擦驱动装置和全方位车辆使用相同
公开(公告)号：US08827375B2
公开(公告)日：2014-09-09
申请号：US13132681
申请日：2009-12-01
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
IPC分类号： B60B19/12 , B60B19/00 , B62M6/70 , B62K1/00 , B62M6/40
CPC分类号： B62M6/70 , B60B19/003 , B60B19/125 , B60B2200/47 , B60B2360/10 , B60B2360/1434 , B60B2360/1444 , B60B2360/32 , B60B2360/348 , B60B2900/131 , B60B2900/133 , B60B2900/211 , B60Y2200/40 , B62K1/00 , B62M6/40
摘要： In a wheel for use in an omni-directional vehicle, gravel and other foreign matters are prevented from being trapped between free rollers forming the wheel, and traveling vibrations and noises are minimized at the same time. The wheel includes an annular member and a plurality of free rollers each rotatably supported by the annular member around a corresponding tangential line of the annular member, and a gap member is placed between each adjacent pair of the free rollers to fill a gap defined between the free rollers.
摘要翻译：在用于全方位车辆的车轮中，防止砾石和其他异物被捕获在形成车轮的自由辊之间，并且行驶振动和噪声同时被最小化。轮包括环形构件和多个自由辊，每个自由辊由环形构件围绕环形构件的对应切线旋转地支撑，并且间隙构件被放置在每个相邻的一对自由辊之间以填充限定在自由滚筒

78. 发明授权

US08645030B2 Control device of inverted pendulum type vehicle 有权
标题翻译：倒立摆式车辆控制装置
公开(公告)号：US08645030B2
公开(公告)日：2014-02-04
申请号：US13394898
申请日：2009-09-18
申请人： Shinichiro Kobashi , Kazushi Akimoto , Hideo Murakami , Toru Takenaka , Hiroshi Gomi
发明人： Shinichiro Kobashi , Kazushi Akimoto , Hideo Murakami , Toru Takenaka , Hiroshi Gomi
IPC分类号： G01P15/00
CPC分类号： B62K1/00 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62K11/007 , B62K2207/04
摘要： Provided is a controller for an inverted pendulum type vehicle capable of moving the vehicle smoothly. The inverted pendulum type vehicle 1 is provided with a grip 18 at a upper end portion of a base body 9. A grip-acting external force F acting on the grip 18 is detected by a force sensor 55. According to the detected grip-acting external force F, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and on the basis thereof, a traveling motion unit controller determines a manipulated variable for control.
摘要翻译：本发明提供一种能够平稳地移动车辆的倒立摆式车辆的控制装置。倒立摆式车辆1在基体9的上端部设置有把手18.通过力传感器55检测作用在把手18上的抓握力外力F.根据检测到的抓握力外力F，所需的重心速度发生器74确定所需的重心速度Vb_x_aim和Vb_y_aim，并且基于此，行驶运动单元控制器确定用于控制的操纵变量。

79. 发明授权

US08583283B2 Legged mobile robot and control system thereof 失效
公开(公告)号：US08583283B2
公开(公告)日：2013-11-12
申请号：US12397773
申请日：2009-03-04
申请人： Toru Takenaka , Hiroshi Gomi , Susumu Miyazaki , Kazushi Hamaya
发明人： Toru Takenaka , Hiroshi Gomi , Susumu Miyazaki , Kazushi Hamaya
IPC分类号： B25J19/00 , B25J5/00 , B25J13/00 , B25J9/00
CPC分类号： B25J19/0091
摘要： The legged mobile robot the foot comprises a foot main body connected to each leg, a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, and a bending angle holder capable of holding a bending angle of the toe in a bendable range of the toe. In addition, a legged mobile robot control system is configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the bending angle at a second time point after the leg has lifted off the floor to restore the toe to a initial position. With this, the bending angle at the time of liftoff can continue to be held after liftoff, whereby the robot can be prevented from becoming unstable owing to the toe contacting the floor immediately after liftoff. In addition, stability during tiptoe standing can be enhanced.

80. 发明授权

US08513917B2 Recharging system for a rechargeable battery of an inverted pendulum type vehicle 有权
标题翻译：用于倒立摆式车辆的可充电电池的充电系统
公开(公告)号：US08513917B2
公开(公告)日：2013-08-20
申请号：US12884724
申请日：2010-09-17
申请人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
发明人： Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Yuichi Uebayashi , Shinichiro Kobashi , Hironori Waita
IPC分类号： H02J7/00
CPC分类号： B62J25/00 , B62J1/005 , B62K1/00 , B62K11/007 , B62K15/00 , B62K2207/02
摘要： A recharging system for a rechargeable battery (281) of an inverted pendulum type vehicle (1) comprises a stand (86) for holding the vehicle in a substantially upright posture by using a supporting member (91, 96) that engages a prescribed part of the vehicle, a power feed device (95, 152) is provided on the stand, and a power take device (88, 151) provided on the vehicle. The power take device is positioned so as to couple with the power feed device when the prescribed part of the vehicle is engaged by the supporting member of the stand. The stand allows the vehicle to be placed in an upright posture simply leaning the vehicle against a part of the supporting member, and the electric connection between the rechargeable battery of the vehicle and the power source can be established at the same time without requiring any extra effort.
摘要翻译：用于倒立摆式车辆（1）的可再充电电池（281）的充电系统包括：支架（86），其用于通过使用与规定部分接合的支撑构件（91,96）将车辆保持在基本上直立的姿势所述车辆，所述支架上设置有供电装置（95,152），以及设置在所述车辆上的动力取出装置（88,151）。当车辆的规定部分被支架的支撑构件接合时，动力装置被定位成与供电装置联接。支架允许车辆以直立姿态放置，简单地将车辆靠在支撑构件的一部分上，并且可以同时建立车辆的可再充电电池与电源之间的电连接，而不需要任何额外的努力

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