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1. 发明申请

US20090114460A1 Biped Mobile Mechanism 审中-公开
标题翻译： Biped移动机制
公开(公告)号：US20090114460A1
公开(公告)日：2009-05-07
申请号：US12264969
申请日：2008-11-05
申请人： Azusa AMINO , Junichi TAMAMOTO , Ryosuke NAKAMURA
发明人： Azusa AMINO , Junichi TAMAMOTO , Ryosuke NAKAMURA
IPC分类号： B62D57/028
CPC分类号： B62D57/028
摘要： A robot having a leg mechanism having high rigidity, so as to enable moving on wheels, on the leveled ground, and also moving on the bipedalism, on the unleveled ground, and also enabling to execute exchanging between the wheel running and the bipedalism in a short time, comprising: a body; and left and right leg portions in lower portion of the body, wherein each leg portion has a wheel, which can be drive, at a tip thereof, and a supporting portion, which is movable in roll and pitch directions, the each leg portion has three (3) degrees of freedom, roll, pitch and pitch from the body side, and the supporting portion has at least two (2) of contact points to be in contact with a ground, and makes up a stable region by a contact point of the wheel and the contact point of the supporting body, and thereby oscillating the left and right leg portions, alternately, so as to make bipedalism, and further operating the supporting body, so as to run on the wheels.
摘要翻译：一种具有高刚度的腿部机构的机器人，以便能够在平坦的地面上在车轮上移动，并且在未平坦的地面上也可以在双足动物上移动，并且还能够执行车轮行驶与双足障碍物之间的交换时间短，包括：身体; 所述主体的下部具有左右腿部，其中，所述腿部具有可在其前端驱动的轮和能够以卷侧和俯仰方向移动的支撑部，所述腿部具有三（3）度的自由度，辊体，节距和节距，并且支撑部分具有至少两（2）个与地面接触的接触点，并通过接触点构成稳定区域并且由此使左腿和右腿部交替地摆动，以便进行双足动作，并进一步操作支撑体，以便在车轮上行驶。

2. 发明申请

US20090118865A1 ROBOT 审中-公开
标题翻译：机器人
公开(公告)号：US20090118865A1
公开(公告)日：2009-05-07
申请号：US12264958
申请日：2008-11-05
申请人： Saku EGAWA , Ryosuke NAKAMURA , Azusa AMINO , Junichi TAMAMOTO , Manabu YANAGIMOTO
发明人： Saku EGAWA , Ryosuke NAKAMURA , Azusa AMINO , Junichi TAMAMOTO , Manabu YANAGIMOTO
IPC分类号： B25J19/04
CPC分类号： B25J19/023
摘要： Described herein is a robot having a camera mount that is movable along a curved surface of an upper part of the head, on a front side thereof, and two units of cameras that are mounted in the camera mount. The cameras are disposed such that the cameras are laterally separated from each other at an interval substantially equivalent to a lateral width of the head, respective extremities of the cameras are substantially flush with the front end of the head, and the cameras are positioned in close proximity of the upper end of the robot.
摘要翻译：这里描述了一种机器人，其具有可沿着头部的上部的弯曲表面在其前侧上移动的摄像机安装座和安装在摄像机座中的两个摄像机单元。相机被布置成使得照相机以基本上等于头部的横向宽度的间隔彼此横向分离，相机的各个端部基本上与头部的前端齐平，并且相机被定位成紧密靠近机器人的上端。

3. 发明申请

US20110054681A1 ROBOT 审中-公开
标题翻译：机器人
公开(公告)号：US20110054681A1
公开(公告)日：2011-03-03
申请号：US12852554
申请日：2010-08-09
申请人： Azusa AMINO , Saku EGAWA , Ryosuke NAKAMURA
发明人： Azusa AMINO , Saku EGAWA , Ryosuke NAKAMURA
IPC分类号： B25J5/00
CPC分类号： B62D57/028
摘要： A robot, having left and right leg portions on a lower portion of a body, each of the legs has a wheel attached at a tip of the leg portion, to be drivable, a suspension having a spring and a dumper attached in parallel, between the wheel and the body, and an actuator attached between the suspension and the body. The suspension and the actuator are connected in series, and an inclination detecting means mounted on the body detects an inclination angle and an angular velocity of the robot with respect to a direction of gravity. A control instruction value outputting means controls the actuator upon basis of information thereof, so that the robot travels along a target angle and a target angular velocity thereof. The, spring is connected with an actuator expanding and constructing up and down, in series.
摘要翻译：一种在身体的下部具有左腿和右腿部的机器人，每个腿具有附接在腿部的末端的可驱动的轮，具有弹簧和自卸车并联的悬架，车轮和车身以及安装在悬架和车体之间的致动器。悬架和致动器串联连接，并且安装在主体上的倾斜检测装置检测机器人相对于重力方向的倾斜角度和角速度。控制指令值输出装置根据其信息控制致动器，使得机器人沿目标角度和目标角速度行进。弹簧与一个致动器连接，上下升降，串联。

4. 发明申请

US20110137462A1 MOBILE ROBOT AND TRAVELLING METHOD FOR THE SAME 有权
标题翻译：移动机器人及其移动方法
公开(公告)号：US20110137462A1
公开(公告)日：2011-06-09
申请号：US12958575
申请日：2010-12-02
申请人： Ryosuke NAKAMURA , Azusa Amino
发明人： Ryosuke NAKAMURA , Azusa Amino
IPC分类号： G05B19/04
CPC分类号： B25J5/007 , G05D1/024 , G05D1/0274 , Y02T10/7258
摘要： This mobile unit suppresses lateral vibration produced when the mobile unit passes over a step. A stabilizer according to the present invention predicts contact timing at which the mobile unit makes contact with a step, which may be a bump or pit, using sensor information or map information, shifts the center of gravity of the mobile unit laterally by controlling actuators, and shits the center of gravity laterally for the next step after detecting that the mobile unit has passed over the previous step.
摘要翻译：该移动单元抑制当移动单元经过台阶时产生的横向振动。根据本发明的稳定器使用传感器信息或地图信息预测移动单元与步骤接触的接触定时（可以是凸块或凹坑），通过控制致动器横向移动移动单元的重心，并在检测到移动单元已经经过上一步骤之后横向地重心重心进行下一步骤。

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