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1. 发明申请

US20050240308A1 Method and device for controlling walking of legged robot 审中-公开
标题翻译：用于控制腿式机器人走路的方法和装置
公开(公告)号：US20050240308A1
公开(公告)日：2005-10-27
申请号：US10511608
申请日：2003-05-07
申请人： Kenji Kaneko , Kazuhiko Yokoi , Fumio Kanehiro , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
发明人： Kenji Kaneko , Kazuhiko Yokoi , Fumio Kanehiro , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
IPC分类号： B25J13/00 , B25J5/00 , B62D57/032 , G06F19/00
CPC分类号： B62D57/032
摘要： The present invention provides a walking control method and a walking control apparatus for achieving stable attitude control of a legged robot. In the walking control of the legged robot, basically, a foot-sole coordinate system based on sole positions and having at least a first coordinate axis in a direction connecting soles of both legs and a second coordinate axis perpendicular to the first coordinate axis in a horizontal plane is used as a control coordinate system, and attitude control is performed with different control characteristics for the first and second coordinate axes. Accordingly, the legged robot includes sole position sensors for detecting the sole positions of ground-contacting legs, ground contact sensors for detecting the state of the ground-contacting legs or a motion controller for generating the state of the ground-contacting legs, a control device which performs the walking control using a coordinate system based on the direction connecting the soles of the legs as a control coordinate system in accordance with the detected sole positions and the state of the ground-contacting legs, and leg actuators controlled by the control device.
摘要翻译：本发明提供了一种用于实现腿式机器人的稳定姿态控制的步行控制方法和步行控制装置。在腿式机器人的步行控制中，基本上是基于鞋底位置的脚底坐标系，并且在与第一坐标轴垂直的方向上具有至少第一坐标轴和第二坐标轴的坐标轴水平面用作控制坐标系，并且对于第一和第二坐标轴执行具有不同控制特性的姿态控制。因此，腿式机器人包括用于检测地面接触腿的唯一位置的底部位置传感器，用于检测地面接触腿的状态的接地接触传感器或用于产生接地腿的状态的运动控制器，装置，其使用基于根据检测到的底部位置和接地腿的状态的腿的腿部的方向作为控制坐标系的坐标系执行步行控制，以及由控制装置控制的腿致动器。

2. 发明申请

US20100314426A1 Support structure for cooling unit for vehicle 审中-公开
标题翻译：车辆冷却单元支撑结构
公开(公告)号：US20100314426A1
公开(公告)日：2010-12-16
申请号：US12801440
申请日：2010-06-09
申请人： Kazuhiko Yokoi , Hiroyasu Kosaka
发明人： Kazuhiko Yokoi , Hiroyasu Kosaka
IPC分类号： B60R11/00
CPC分类号： B60K11/04 , B60R19/34 , B60R2021/343
摘要： It is provided a support structure for a cooling unit for a vehicle, in which in one straight side edge portion of a rectangular cooling unit, a first support point and a second support point, which are set to be away from each other in a longitudinal direction of the one side edge portion, are supported by a first retention portion and a second retention portion, respectively, the first retention portion and the second retention portion being provided in a single support bracket fixed integrally to a vehicle body, the second retention portion supporting the second support point through a fragile portion that is broken to permit the second support point to be separated from the second retention portion when an external force equal to or larger than a predetermined value is applied to the second support point in a direction toward a rear side of a vehicle; and when the fragile portion is broken, the second support point being permitted to move toward the rear side of the vehicle, and to pivot in a direction of an arc with a center at the first support point.
摘要翻译：提供了一种用于车辆的冷却单元的支撑结构，其中在矩形冷却单元的一个直边侧部分中，第一支撑点和第二支撑点被设置为彼此远离地纵向一侧边缘部分的方向分别由第一保持部分和第二保持部分支撑，第一保持部分和第二保持部分设置在一体地固定在车身上的单个支撑支架中，第二保持部分通过破坏的脆弱部分来支撑第二支撑点，当脆性部分被破坏以允许第二支撑点在等于或大于预定值的外力沿着朝向第二支撑点的方向被施加到第二支撑点时车辆后方; 并且当所述脆弱部分断裂时，允许所述第二支撑点朝向所述车辆的后侧移动，并且在所述第一支撑点处具有中心的弧的方向枢转。

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