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1. 发明专利

JP2005161427A Quadruped walking robot 有权
标题翻译： QUADRUPED WALKING ROBOT
公开(公告)号：JP2005161427A
公开(公告)日：2005-06-23
申请号：JP2003400775
申请日：2003-11-28
申请人： Atsuo Takanishi , Tmsuk Co Ltd , 株式会社テムザック , 淳夫高西
发明人： TAKANISHI ATSUO , TAKAMOTO YOICHI , BABA KATSUYUKI , NISHIZAWA HIDEKI
IPC分类号： B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a quadruped walking robot capable of performing stable walking operation, even if a degree of freedom of a leg part is reduced, while reducing manufacturing cost and weight, by reducing the number of driving parts.
SOLUTION: This quadruped walking robot 1 comprises a horizontally revolving part 4 revolvably arranged in the horizontal direction in a body part 2, a horizontal revolving driving part 5 for rotatingly driving the horizontally revolving part 4 in the horizontal direction, an upper side upper leg part 9 rotatably journaled in the vertical direction to the horizontally revolving part 4, a lower side upper leg part 11 arranged in substantially parallel to a lower part of the upper side upper leg part 9, an upper leg rotating driving part 10 for rotatingly driving the upper side upper leg part 9 in the vertical direction, a lower leg part 13 for vertically journaling a tip part of the upper side upper leg part 9 and a tip part of the lower side upper leg part 11 to an upper end part, a grounding part 17 arranged in a lower end part of the lower leg part 13, and an elastically expanding part 12 arranged in an intermediate part of the lower side upper leg part 11 and elastically expanding in the longitudinal direction.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：通过减少驱动部件的数量，即使降低制动成本和重量也能够提供能够进行稳定行走的四足步行机器人。解决方案：该四足步行机器人1包括在主体部分2中沿水平方向可旋转地布置的水平旋转部分4，用于在水平方向上旋转地驱动水平旋转部分4的水平旋转驱动部分5，大腿部分9在水平旋转部分4的垂直方向上可旋转地轴颈地安装，大致平行于上侧上腿部分9的下部设置的下侧上腿部分11，用于旋转的上腿旋转驱动部分10 沿上下方向驱动上侧上腿部9，将上侧上腿部9的前端部和下侧上腿部11的前端部垂直延伸到上端部的下腿部13，布置在小腿部13的下端部的接地部17和布置在下侧上腿部11的中间部的弹性伸长部12，弹性伸长在纵向上。版权所有（C）2005，JPO＆NCIPI

2. 发明专利

JP2003291086A Straight moving link device and bipedal walking robot equipped therewith 审中-公开
标题翻译：直线运动连杆装置和双向运动机器人设备
公开(公告)号：JP2003291086A
公开(公告)日：2003-10-14
申请号：JP2002133344
申请日：2002-03-31
申请人： Atsuo Takanishi , Tmsuk Co Ltd , 株式会社テムザック , 淳夫高西
发明人： TAKANISHI ATSUO , TAKAMOTO YOICHI , BABA KATSUYUKI , INO SHIGEAKI
IPC分类号： B25J19/00 , B25J5/00 , F16D55/06
摘要： PROBLEM TO BE SOLVED: To provide a straight moving link device and a bipedal walking robot equipped therewith capable of being held fast by a holding brake when an actuator is stopped so that the link device does not expand or contract, and thereby reducing the load acting on the actuator and also suppressing the power consumption.
SOLUTION: The straight moving link device 1 includes the actuator 28 which expands and contracts the link device in the longitudinal direction, and also has a holding brake 30 to hold fast the moving part of the actuator 28. The bipedal walking robot according to the invention is equipped with this straight moving link device 1 having the holding brake 30 to hold fast the moving part of the actuator 28.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：为了提供一种直线移动连杆装置和一种装备有双脚行走机器人的装置，当致动器停止时，能够通过保持制动器快速握持，从而连杆装置不会膨胀或收缩，从而减少作用在执行器上的负载也抑制了功耗。直线移动连杆装置1包括沿长度方向使连杆装置伸缩的致动器28，并且还具有用于保持致动器28的运动部分的保持制动器30.双足步行机器人本发明配备有具有保持制动器30的直线移动连杆装置1，以便快速地保持致动器28的运动部分。版权所有（C）2004，JPO

3. 发明专利

JP2003291080A Lower half body module of bipedal walking robot 审中-公开
标题翻译：双层跑步机器人的低半身体模块
公开(公告)号：JP2003291080A
公开(公告)日：2003-10-14
申请号：JP2002133343
申请日：2002-03-31
申请人： Atsuo Takanishi , Tmsuk Co Ltd , 株式会社テムザック , 淳夫高西
发明人： TAKANISHI ATSUO , TAKAMOTO YOICHI , BABA KATSUYUKI , INO SHIGEAKI
IPC分类号： B25J5/00 , F16H21/00
摘要： PROBLEM TO BE SOLVED: To provide a lower half body module of a bipedal walking robot having a wide degree of freedom in designing allowing the legs to sustain a large load owing to the constitution of the legs based on parallel link mechanisms, capable of transporting a heavy object to assure excellent practicability, and capable of placing or incorporating an upper half body having a large weight. SOLUTION: The lower half body module 1 of the bipedal walking robot is composed of a base 2, a right foot 3 and a left foot 4, a plurality of passive joints 6, 7, 8 installed on the base 2, the right foot 3 and the left foot 4, respectively, and parallel link mechanisms 1a and 1b installed between the passive joint 6 installed on the base 2 and the passive joints 7 and 8 installed on the right foot 3 and between the passive joint 6 installed on the base 2 and the passive joints 7 and 8 installed on the left foot 4, respectively. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：为了提供一种具有宽度自由度的双足步行机器人的下半身模块，其设计允许腿由于基于平行连杆机构的腿的构造而承受大的负载，能够运送重物以确保优异的实用性，并且能够放置或结合具有大重量的上半身。解决方案：双足步行机器人的下半身模块1由基座2，右脚3和左脚4，安装在基座2上的多个被动关节6,7,8组成，右脚3和左脚4，以及安装在安装在基座2上的被动关节6和安装在右脚3上的被动关节7和8之间以及安装在右脚3上的被动关节6之间的平行连杆机构1a和1b 基座2和被安置在左脚4上的被动接头7和8。版权所有（C）2004，JPO

4. 发明专利

JP2008068339A Walking pattern creating device, bipedal walking robot device, walking pattern creating method, bipedal walking robot device control method, program, and recording medium 审中-公开
标题翻译：运动图案创作装置，双向步行机器人装置，运动图案创作方法，双向步行机器人装置控制方法，程序和记录介质
公开(公告)号：JP2008068339A
公开(公告)日：2008-03-27
申请号：JP2006247375
申请日：2006-09-12
申请人： Atsuo Takanishi , Tmsuk Co Ltd , 株式会社テムザック , 淳夫高西
发明人： TAKANISHI ATSUO , KAWASE MASAMIKI , HASHIMOTO KENJI , SUGAWARA YUSUKE , SAWATO TERUMASA , ENDO NOBUTSUNA , HAYASHI AKIHIRO , OTA AKIHIRO , TANAKA TOMOAKI , TAKAMOTO YOICHI , BABA KATSUYUKI , INO SHIGEAKI
IPC分类号： B25J5/00 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To provide a walking pattern creating device which allows a bipedal walking robot device to carry out stable bipedal walking even if a person rides on it or a heavy cargo is loaded on it. SOLUTION: The walking pattern creating device has: a riding person mass point track calculating means 222a for calculating a track of each mass point of a dynamic model of the riding person, based on a parameter of the dynamic model of the riding person, acquired beforehand; a riding person mass point acceleration calculating means 222b for calculating an acceleration of each mass point of the dynamic model of the riding person, based on the calculated track of each mass point; an error moment calculating means 219 for calculating an error moment at a target zero moment point, based on the calculated acceleration of each mass point of the bipedal walking robot device, and the calculated acceleration of each mass point of the dynamic model of the riding person; and a leg position posture calculating means 221 for calculating a leg position when the calculated error moment becomes smaller than a predetermined value, and calculating the posture of a leg. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种行走模式创建装置，其允许双足步行机器人装置即使人骑在其上也可以进行稳定的双足行走，或者重载货物被装载。解决方案：步行模式创建装置具有：乘坐者质点轨迹计算装置222a，用于根据乘坐者的动态模型的参数来计算骑乘者的动态模型的每个质点的轨迹预购; 基于所计算的每个质点的轨迹，计算乘客的动态模型的每个质点的加速度的骑乘者质点加速度计算装置222b; 基于计算出的双足步行机器人装置的每个质点的加速度以及所计算的骑乘者的动态模型的每个质点的加速度的误差矩计算装置219，用于计算目标零时刻点的误差力矩 ; 以及腿位置姿势计算装置221，用于当所计算的误差力矩小于预定值时计算腿部位置，并计算腿部的姿势。版权所有（C）2008，JPO＆INPIT

5. 发明专利

JP2007290068A Straight move link device, robot using the same, and bipedal walking robot 审中-公开
标题翻译：直线移动链接设备，使用相同的机器人，以及双向运动机器人
公开(公告)号：JP2007290068A
公开(公告)日：2007-11-08
申请号：JP2006119934
申请日：2006-04-24
申请人： Atsuo Takanishi , Tmsuk Co Ltd , 株式会社テムザック , 淳夫高西
发明人： TAKANISHI ATSUO , ENDO NOBUTSUNA , HASHIMOTO KENJI , SUGAWARA YUSUKE , KAWASE MASAMIKI , OTA AKIHIRO , TANAKA TOMOAKI , SAWATO TERUMASA , HAYASHI AKIHIRO , TAKAMOTO YOICHI , BABA KATSUYUKI , INO SHIGEAKI
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032 , F16H21/54 , F16H25/20
CPC分类号： F16H2025/2096
摘要： PROBLEM TO BE SOLVED: To provide a straight move link device excellent in universality, having the shortened shortest link length, and elongating the stroke of the link so as to enlarge a movable range by comprising multi-stage links. SOLUTION: The device is provided with: (a) a first joint 21 comprising a first ball screw shaft 21a, a first ball screw nut 21b rotatably engaged with the first ball screw shaft 21a, and a driven gear 22 formed on or fixed to the outer circumference of the first ball screw nut 21b; (b) a second joint 25 comprising a drive motor 29, a second ball screw shaft 25a rotated by the drive motor 29, and a drive gear 26 provided through the second ball screw shaft 25a, and engaged with the driven gear 22 of the first joint 21; and (c) a third joint 34 comprising a second ball screw nut 34a rotatably engaged with the second ball screw shaft 25a of the second joint 25, and a cylindrical member 34b continuously provided with the second ball screw nut 34a, and combined with the second ball screw shaft 25a of the second joint 25. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了提供通用性优异的直线移动连接装置，具有缩短的最短链接长度，并且延长链接的行程以通过包括多级链接来扩大可移动范围。解决方案：该装置设置有：（a）第一接头21，包括第一滚珠丝杠轴21a，与第一滚珠丝杠轴21a可旋转地接合的第一滚珠丝杠螺母21b，以及从动齿轮22，固定到第一滚珠丝杠螺母21b的外周; （b）第二接头25，包括驱动马达29，由驱动马达29旋转的第二滚珠丝杠轴25a和穿过第二滚珠丝杠轴25a设置的驱动齿轮26，并与第一滚珠丝杠轴25的从动齿轮22啮合。关节21; 和（c）第三接头34，包括与第二接头25的第二滚珠丝杠轴25a可旋转地接合的第二滚珠丝杠螺母34a和连续设置有第二滚珠丝杠螺母34a的圆筒部件34b，并与第二接头第二关节的滚珠丝杠轴25a。版权所有（C）2008，JPO＆INPIT

6. 发明专利

JP2008093822A Multi-point ground-contact type leg part support mechanism, two-foot walking robot provided with it and its control structure 审中-公开
标题翻译：多点接地型LEG部分支持机构，提供其的双机器人机器人及其控制结构
公开(公告)号：JP2008093822A
公开(公告)日：2008-04-24
申请号：JP2007237309
申请日：2007-09-12
申请人： Atsuo Takanishi , Tmsuk Co Ltd , 株式会社テムザック , 淳夫高西
发明人： TAKANISHI ATSUO , HAYASHI AKIHIRO , HASHIMOTO KENJI , SUGAWARA YUSUKE , KAWASE MASAMIKI , SAWATO TERUMASA , ENDO NOBUTSUNA , OTA AKIHIRO , TANAKA TOMOAKI , TAKAMOTO YOICHI , BABA KATSUYUKI , INO SHIGEAKI
IPC分类号： B25J5/00 , A63H11/18
摘要： PROBLEM TO BE SOLVED: To provide a multi-point ground-contact type leg part support mechanism with excellent reliability capable of being easily attached to a sole of a leg part of an existing two-foot walking robot or the like, certainly and passively sliding a movable claw part of a sole support part according to a recession/projection of a ground-contact surface of a road surface or the like, quickly and certainly multi-point-supporting the sole even on the ground-contact surface with a level difference by braking the motion of the sole support part by detecting ground-contact of the fixed claw part and a movement amount of the movable claw part, and avoiding falling. SOLUTION: The multi-point ground-contact type leg part support mechanism is provided with a base part arranged on the sole of the leg part of the walking robot; and the sole support part for multi-point-supporting the base part. The sole support part is provided with the three or more of movable claw parts having lower ends arranged so as to be projected to below a bottom surface of the base part and slidably retained so as to be each independently upwardly moved at ground-contact; a movement amount detection sensor part for detecting the movement amount of the respective movable claw parts; and a lock mechanism for braking the motion of all movable claw parts based on the movement amount of the movable claw parts detected by the movement amount detection sensor part. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种具有优良可靠性的多点接地型腿部支撑机构，其能够容易地附接到现有的两脚步行机器人的腿部的鞋底等，当然并且根据路面等的接地面的倒塌/突起来动作地滑动鞋底支撑部的可动爪部，并且能够快速且可靠地多次支撑鞋底，甚至在地面接触面上，通过检测固定爪部的接地接触和可动爪部的移动量来制动鞋底支撑部的动作，避免掉落的水平差。解决方案：多点接地型腿部支撑机构设置有布置在步行机器人的腿部的鞋底上的基部; 以及用于多点支撑基座的唯一支撑部件。唯一的支撑部分设置有三个或更多个可动爪部分，其下端被布置成突出到基部的底表面的下方并且可滑动地保持，以便各自独立地向上移动接地; 移动量检测传感器部，用于检测各个可动爪部的移动量; 以及用于基于由移动量检测传感器部检测的可动爪部的移动量来制动所有可动爪部的运动的锁定机构。版权所有（C）2008，JPO＆INPIT

7. 发明专利

JP2007075956A Reference alignment instrument and reference alignment method using it 审中-公开
标题翻译：参考对准仪器和使用它的参考对准方法
公开(公告)号：JP2007075956A
公开(公告)日：2007-03-29
申请号：JP2005267697
申请日：2005-09-14
申请人： Atsuo Takanishi , Tmsuk Co Ltd , 株式会社テムザック , 淳夫高西
发明人： TAKANISHI ATSUO , SUGAWARA YUSUKE , SUNATSUKA HIROYUKI , HASHIMOTO KENJI , KAWASE MASAMIKI , OTA AKIHIRO , TANAKA TOMOAKI , TAKAMOTO YOICHI , BABA KATSUYUKI , INO SHIGEAKI
IPC分类号： B25J19/02
摘要： PROBLEM TO BE SOLVED: To provide a reference alignment instrument and method using it, simply aligning an end effector part with enough accuracy for walk in any place and improving accuracy and reproducibility in a bipedal robot using a parallel link mechanism. SOLUTION: This reference alignment instrument 1 includes: a mounting part 2 removably fitted to a predetermined part of a base part; a shaft part 3, one end of which is fixed to a fitting part; a light source holding body 4 fixed to the other end part of the shaft part and disposed in the vicinity of the end effector part; and one or more light source parts disposed on the light source holding body to radiate spot light. This reference alignment method includes: a fitting process of fitting the reference alignment instrument to the predetermined part of the base part; a spot light radiating process of radiating spot light from the light source part; and an alignment process of aligning the end effector part so that the spot light is aligned with a target point. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：为了提供使用它的参考对准仪器和方法，简单地使端部执行器部件对准任何地方的步行足够的精度，并且使用并联连杆机构提高双足机器人的精度和再现性。解决方案：该参考对准仪1包括：可拆卸地装配到基部的预定部分的安装部分2; 轴部3，其一端固定在装配部上; 光源保持体4，其固定在所述轴部的另一端部并配置在所述端部执行器部的附近; 以及设置在光源保持体上的一个或多个光源部分以照射点光。该基准对准方法包括：将基准对准装置嵌合到基部的预定部分的嵌合工序; 从光源部分散射光的点光照射工艺; 以及使末端执行器部分对齐以使得聚光与目标点对准的对准过程。版权所有（C）2007，JPO＆INPIT

8. 发明专利

JP2007075940A Foot safety mechanism, bipedal robot with the same and control structure thereof 有权
标题翻译： FOOT安全机制，具有相同功能的双边机器人及其控制结构
公开(公告)号：JP2007075940A
公开(公告)日：2007-03-29
申请号：JP2005266064
申请日：2005-09-13
申请人： Atsuo Takanishi , Tmsuk Co Ltd , 株式会社テムザック , 淳夫高西
发明人： TAKANISHI ATSUO , TANAKA TOMOAKI , KAWASE MASAMIKI , SUGAWARA YUSUKE , HASHIMOTO KENJI , SUNATSUKA HIROYUKI , OTA AKIHIRO , TAKAMOTO YOICHI , BABA KATSUYUKI , INO SHIGEAKI
IPC分类号： B25J5/00 , A63H11/18 , B25J19/06
摘要： PROBLEM TO BE SOLVED: To provide a foot safety mechanism, easily fitted to the foot sole of an existing bipedal robot, used as an ordinary foot sole in walking, enlarging a support polygon to secure a wide attitude stable region in case of emergency, and achieving emergency stop of the action of each part while preventing overturn to attain excellent reliability. SOLUTION: This foot safety mechanism includes: a base disposed at the foot sole of the bipedal robot; and an arm part disposed at the base to freely rotate and expand and contract, and projected toward the outside of the base in the case of overturn preventing action. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种脚踏安全机构，其容易地安装到用作行走中的普通脚踏鞋的现有双足机器人的脚底，扩大支撑多边形以在宽的姿态稳定区域紧急情况下，实现紧急停止各部位的动作，同时防止翻倒，达到极佳的可靠性。解决方案：该脚踏安全机构包括：设置在双足机器人脚底的底座; 以及在翻转防止动作的情况下，设置在基座处的自由旋转和伸缩的臂部，并且朝向基部的外侧突出。版权所有（C）2007，JPO＆INPIT

9. 发明专利

JP2006082155A Walking pattern creating device, bipedal walking robot device, walking pattern creating method, method of controlling bipedal walking robot device, program, and recording medium 审中-公开
标题翻译：跑步图案创作装置，双边步行机器人装置，跑步图案创作方法，控制双向步行机器人装置，程序和记录介质的方法
公开(公告)号：JP2006082155A
公开(公告)日：2006-03-30
申请号：JP2004267599
申请日：2004-09-14
申请人： Atsuo Takanishi , Tmsuk Co Ltd , 株式会社テムザック , 淳夫高西
发明人： TAKANISHI ATSUO , MIKURIYA YUTAKA , KAWASE MASAMIKI , SUGAWARA YUSUKE , HOSOHATA TAKUYA , HASHIMOTO KENJI , SUNATSUKA HIROYUKI , TAKAMOTO YOICHI , BABA KATSUYUKI , INO SHIGEAKI
IPC分类号： B25J13/00 , B25J5/00 , G05B11/36
摘要： PROBLEM TO BE SOLVED: To provide a walking pattern creating device which creates a walking pattern according to which a bipedal walking robot device of a parallel link mechanism performs stable bipedal walking. SOLUTION: The walking pattern creating device creates the walking pattern of the bipedal walking robot device formed of leg portions with foot portions (sole portions) and a lumbar portion. To create the walking pattern, a target zero moment point is set on the foot portion, and a moment compensating orbit of the lumbar portion is calculated depending on the set target zero moment point, followed by calculating a location of the foot portion in terms of lumbar coordinate systems, based on a lumbar coordinate system origin in absolute coordinate systems, and a foot coordinate system origin in the absolute coordinate systems. Further a rotation matrix representative of the position of the foot coordinate system origin in terms of the lumbar coordinate systems is calculated from a rotation matrix representative of the position of the foot coordinate systems in terms of the absolute coordinate systems, and a rotation matrix representative of the position of the lumbar coordinate systems in terms of the absolute coordinate systems, and then the position of the foot portion is calculated from the rotation matrix representative of the position of the foot coordinate system origin. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种行走模式创建装置，其产生行走模式，根据该行走模式，并行连杆机构的双足行走机器人装置执行稳定的双脚行走。解决方案：行走模式创建装置创建由足部（底部）和腰部构成的腿部形成的双足步行机器人装置的行走模式。为了创建步行图案，在脚部设置目标零点，并且根据设定的目标零时刻点计算腰部的力矩补偿轨道，然后根据设定的目标零时刻点计算脚部的位置基于绝对坐标系中的腰部坐标系原点的腰椎坐标系以及绝对坐标系中的脚坐标系原点。此外，根据代表根据绝对坐标系的脚坐标系的位置的旋转矩阵计算表示基于坐标系的脚坐标系原点的位置的旋转矩阵，以及表示根据绝对坐标系，腰部坐标系的位置，然后从代表脚坐标系原点的位置的旋转矩阵计算脚部的位置。版权所有（C）2006，JPO＆NCIPI

10. 发明专利

JP2006055973A Self-weight bearing device, bipedal walking robot with the same, and control structure therefor 审中-公开
标题翻译：自重承载装置，双臂式运动机器人及其控制结构
公开(公告)号：JP2006055973A
公开(公告)日：2006-03-02
申请号：JP2004242929
申请日：2004-08-23
申请人： Atsuo Takanishi , Tmsuk Co Ltd , 株式会社テムザック , 淳夫高西
发明人： TAKANISHI ATSUO , KAWASE MASAMIKI , MIKURIYA YUTAKA , SUGAWARA YUSUKE , HOSOHATA TAKUYA , HASHIMOTO KENJI , SUNATSUKA HIROYUKI , TAKAMOTO YOICHI , BABA KATSUYUKI , INO SHIGEAKI
IPC分类号： B25J5/00 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To provide a self-weight bearing device which reduces a load applied to leg portions owing to the weight of a pay load etc., increases the pay load applied to a bipedal walking robot, and is excellent in high load capacity. SOLUTION: The self-weight bearing device is provided with a grounded leg expansion portion, which is arranged at a location between a base portion of the bipedal walking robot and each of right and left foot portions, for elastically expanding/contracting in a longitudinal direction when each of the right and left foot portions are grounded, to thereby bear the base portion, and an idle leg expansion portion, which is serially arranged on the grounded leg expansion portion, for expanding/contracting in a longitudinal direction when each of the right and left foot portions assumes an idle position. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了提供一种自重重量承载装置，其减轻由于工作负荷等的重量而施加到腿部的负荷，增加了施加到双足步行机器人的工作负荷，并且优异的高负载能力。解决方案：自重式承载装置设置有接地的腿部扩张部分，其布置在双足步行机器人的基部与右脚部和左脚部之间的位置处，用于弹性扩张/收缩当左右两脚部分各自接地以便承受基部时的纵向方向，以及串联地设置在接地腿部伸展部分上的怠速腿部膨胀部分，用于在每个右脚部和左脚部分呈现空转位置。版权所有（C）2006，JPO＆NCIPI

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