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1. 发明授权

US07657345B2 Robot and attitude control method of robot 有权
标题翻译：机器人的机器人和姿态控制方法
公开(公告)号：US07657345B2
公开(公告)日：2010-02-02
申请号：US10922907
申请日：2004-08-23
申请人： Gen Endo , Mitsuo Kawato , Gordon Cheng , Jun Nakanishi , Jun Morimoto
发明人： Gen Endo , Mitsuo Kawato , Gordon Cheng , Jun Nakanishi , Jun Morimoto
IPC分类号： B25J9/10 , G06F15/00 , G05B19/18 , G05B19/04
CPC分类号： B62D57/032 , B25J9/161 , B25J13/08
摘要： The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.
摘要翻译：机器人的可移动部分的运动被采取周期性的运动，使得通过调节可移动部分的转移，能够以广义的方式将机器人的姿态稳定地控制。更具体地，一个或多于一个的相位发生器用于机器人系统，并且根据生成的相位选择多个控制器之一。然后，控制器根据连续相位信息控制可动部分的驱动。另外，从物理系统估计实际相位，并且通过使用估计值来调节相位发生器的频率和相位，同时机器人系统的物理相位和相位发生器受到相互夹带，可以通过有效地利用机器人的动力来控制机器人的运动。

2. 发明申请

US20050113973A1 Robot and attitude control method of robot 有权
标题翻译：机器人的机器人和姿态控制方法
公开(公告)号：US20050113973A1
公开(公告)日：2005-05-26
申请号：US10922907
申请日：2004-08-23
申请人： Gen Endo , Mitsuo Kawato , Gordon Cheng , Jun Nakanishi , Jun Morimoto
发明人： Gen Endo , Mitsuo Kawato , Gordon Cheng , Jun Nakanishi , Jun Morimoto
IPC分类号： B25J5/00 , B25J9/16 , B25J13/08 , B62D57/032 , G06F19/00
CPC分类号： B62D57/032 , B25J9/161 , B25J13/08
摘要： The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.
摘要翻译：机器人的可移动部分的运动被采取周期性的运动，使得通过调节可移动部分的转移，能够以广义的方式将机器人的姿态稳定地控制。更具体地，一个或多于一个的相位发生器用于机器人系统，并且根据生成的相位选择多个控制器之一。然后，控制器根据连续相位信息控制可动部分的驱动。另外，从物理系统估计实际相位，并且通过使用估计值来调节相位发生器的频率和相位，同时机器人系统的物理相位和相位发生器受到相互夹带，可以通过有效地利用机器人的动力来控制机器人的运动。

3. 发明申请

US20070260355A1 Driving method, drive control apparatus, and robot 失效
标题翻译：驱动方法，驱动控制装置和机器人
公开(公告)号：US20070260355A1
公开(公告)日：2007-11-08
申请号：US11799201
申请日：2007-05-01
申请人： Jun Morimoto , Gen Endo , Jun Nakanishi , Gordon Cheng
发明人： Jun Morimoto , Gen Endo , Jun Nakanishi , Gordon Cheng
IPC分类号： G06F19/00
CPC分类号： G06N3/008
摘要： A robot comprises: a plurality of limbs having joints; a driving section for driving said joints periodically; and a controller capable of performing operations of: deriving a center position of reaction forces received from ground contacting parts and a change in the center position; calculating a phase concerning periodic movement of own dynamical system elements on the basis of the center position and the change in the center position having been derived; calculating a phase of control system elements for controlling the periodic movement, on the basis of the calculated phase of the own dynamical system elements; calculating a desired value of an angle of the joints on the basis of the calculated phase of the control system elements; and outputting the calculated desired value of the angle as a desired control value to said driving section, wherein in accordance with the desired control value outputted from said controller, said driving section drives said joints periodically so that periodic movement is performed.
摘要翻译：机器人包括：具有接头的多个肢体; 用于周期性地驱动所述接头的驱动部分; 以及能够执行以下操作的控制器：导出从接地部接收的反作用力的中心位置和中心位置的变化; 根据中心位置和中心位置的变化计算自身动力系统元件周期性运动的相位; 根据计算出的自身动力系统要素的相位，计算控制系统元件的相位来控制周期性运动; 基于计算出的控制系统元件的相位来计算接头的角度的期望值; 并将计算出的所需角度值作为期望的控制值输出到所述驱动部分，其中根据从所述控制器输出的所需控制值，所述驱动部分周期性地驱动所述接头从而进行周期性的移动。

4. 发明授权

US07908032B2 Driving method, drive control apparatus, and robot 失效
标题翻译：驱动方法，驱动控制装置和机器人
公开(公告)号：US07908032B2
公开(公告)日：2011-03-15
申请号：US11799201
申请日：2007-05-01
申请人： Jun Morimoto , Gen Endo , Jun Nakanishi , Gordon Cheng
发明人： Jun Morimoto , Gen Endo , Jun Nakanishi , Gordon Cheng
IPC分类号： G06F19/00
CPC分类号： G06N3/008
摘要： A robot has a plurality of limbs with joints; a driving section for driving the joints periodically to form periodic movements on a floor by means of the plural limbs; and a controller capable of performing various operations. The operations include detecting over time floor reaction forces received through the plural limbs contacting the floor during the periodic movement; deriving a center position of the floor reaction forces received from ground contacting limbs during movement and a change in the center position over time; calculating desired angles of the plural joints directly based on the derived current center position, without deriving a desired center position indicating the center position at a future time, controlling the plural joints based on the calculated desired angles; and driving the robot with the controlled plural joints.
摘要翻译：机器人具有多个具有关节的肢体; 驱动部，用于周期性地驱动接头，以通过多个肢体在地板上形成周期性运动; 以及能够执行各种操作的控制器。这些操作包括在周期性运动期间检测通过多个肢体接触地板接收的地板反作用力; 导致在运动期间从地面接触肢体接收的地面反作用力的中心位置和随时间改变中心位置; 基于导出的当前中心位置直接计算多个关节的期望角度，而不导出指示未来时间的中心位置的期望中心位置，基于计算出的所需角度来控制多个关节; 并用受控的多个关节来驱动机器人。

5. 发明授权

US07949428B2 Robot apparatus and method of controlling the same 失效
标题翻译：机器人装置及其控制方法
公开(公告)号：US07949428B2
公开(公告)日：2011-05-24
申请号：US11703332
申请日：2007-02-07
申请人： Gen Endo , Jun Morimoto , Jun Nakanishi , Gordon Chang
发明人： Gen Endo , Jun Morimoto , Jun Nakanishi , Gordon Chang
IPC分类号： G06F19/00
CPC分类号： B25J9/161 , G05B2219/39273 , G05B2219/40264 , G05B2219/40304 , G06N3/008
摘要： A robot apparatus having a plurality of movable sections includes a motion control section that generates a control signal for the periodic motion of at least part of the movable sections according to the output of an oscillator showing self-oscillation and entrainment characteristics, an environment measuring section that measures the motion according to the control signal for the movable sections or the physical environment at the time of the motion of the movable sections, a periodic oscillator control section that inputs a periodic signal to the oscillator as feedback according to the outcome of the measurement by the environment measuring section and generates an entrainment phenomenon and a non-periodic oscillator control section that inputs a non-periodic or temporary feedback signal to the oscillator.
摘要翻译：具有多个可移动部分的机器人装置包括运动控制部分，其根据显示自振动和夹带特性的振荡器的输出产生用于至少部分可移动部分的周期性运动的控制信号;环境测量部分根据可移动部分的运动控制信号或可移动部分的运动时的物理环境来测量运动;周期性振荡器控制部分，根据测量结果向振荡器输入周期信号作为反馈通过环境测量部分产生夹带现象和将非周期性或临时反馈信号输入到振荡器的非周期振荡器控制部分。

6. 发明申请

US20070220637A1 Robot apparatus and method of controlling the same 失效
标题翻译：机器人装置及其控制方法
公开(公告)号：US20070220637A1
公开(公告)日：2007-09-20
申请号：US11703332
申请日：2007-02-07
申请人： Gen Endo , Jun Morimoto , Jun Nakanishi , Gordon Chang
发明人： Gen Endo , Jun Morimoto , Jun Nakanishi , Gordon Chang
IPC分类号： G08B21/00
CPC分类号： B25J9/161 , G05B2219/39273 , G05B2219/40264 , G05B2219/40304 , G06N3/008
摘要： A robot apparatus having a plurality of movable sections includes a motion control section that generates a control signal for the periodic motion of at least part of the movable sections according to the output of an oscillator showing self-oscillation and entrainment characteristics, an environment measuring section that measures the motion according to the control signal for the movable sections or the physical environment at the time of the motion of the movable sections, a periodic oscillator control section that inputs a periodic signal to the oscillator as feedback according to the outcome of the measurement by the environment measuring section and generates an entrainment phenomenon and a non-periodic oscillator control section that inputs a non-periodic or temporary feedback signal to the oscillator.
摘要翻译：具有多个可移动部分的机器人装置包括运动控制部分，其根据显示自振动和夹带特性的振荡器的输出产生用于至少部分可移动部分的周期性运动的控制信号;环境测量部分根据可移动部分的运动控制信号或可移动部分的运动时的物理环境来测量运动;周期性振荡器控制部分，根据测量结果向振荡器输入周期信号作为反馈通过环境测量部分产生夹带现象和将非周期性或临时反馈信号输入到振荡器的非周期振荡器控制部分。

7. 发明授权

US08812062B2 Electronic apparatus 有权
标题翻译：电子仪器
公开(公告)号：US08812062B2
公开(公告)日：2014-08-19
申请号：US11902450
申请日：2007-09-21
申请人： Yoshikazu Hata , Tomoko Honda , Satoru Honda , Nobuyoshi Kuroiwa , Masaomi Nakahata , Jun Morimoto , Koichi Sato , Akihiro Tsujimura , Makoto Tabata , Minoru Sakurai , Shoji Kato
发明人： Yoshikazu Hata , Tomoko Honda , Satoru Honda , Nobuyoshi Kuroiwa , Masaomi Nakahata , Jun Morimoto , Koichi Sato , Akihiro Tsujimura , Makoto Tabata , Minoru Sakurai , Shoji Kato
IPC分类号： H04M1/00
CPC分类号： H05K7/06 , H01Q1/22 , H01Q1/243 , H01Q1/40 , H01Q9/0407
摘要： An electronic apparatus includes: a first molded body; a second molded body which composes housing with the first molded body; a first conductive pattern provided in the housing; a second conductive pattern provided on an outer surface of the housing; and a first conductive member. The first conductive member passes through a gap of a mating face between the first molded body and the second molded body. The first conductive member connects the first conductive pattern and the second conductive pattern.
摘要翻译：电子设备包括：第一成型体; 第二成型体，其与第一成型体构成壳体; 设置在所述壳体中的第一导电图案; 设置在所述壳体的外表面上的第二导电图案; 和第一导电构件。第一导电构件穿过第一模制体和第二模制体之间的配合面的间隙。第一导电构件连接第一导电图案和第二导电图案。

8. 发明授权

US08710586B2 SIC semiconductor device and method for manufacturing the same 有权
标题翻译： SIC半导体器件及其制造方法
公开(公告)号：US08710586B2
公开(公告)日：2014-04-29
申请号：US13229892
申请日：2011-09-12
申请人： Toshimasa Yamamoto , Masahiro Sugimoto , Hidefumi Takaya , Jun Morimoto , Narumasa Soejima , Tsuyoshi Ishikawa , Yukihiko Watanabe
发明人： Toshimasa Yamamoto , Masahiro Sugimoto , Hidefumi Takaya , Jun Morimoto , Narumasa Soejima , Tsuyoshi Ishikawa , Yukihiko Watanabe
IPC分类号： H01L29/66 , H01L29/15
CPC分类号： H01L29/7813 , H01L29/086 , H01L29/1608 , H01L29/41766 , H01L29/45 , H01L29/66068
摘要： A SiC semiconductor device includes: a substrate, a drift layer, and a base region stacked in this order; first and second source regions and a contact layer in the base region; a trench penetrating the source and base regions; a gate electrode in the trench; an interlayer insulation film with a contact hole covering the gate electrode; a source electrode coupling with the source region and the contact layer via the contact hole; a drain electrode on the substrate; and a metal silicide film. The high concentration second source region is shallower than the low concentration first source region, and has a part covered with the interlayer insulation film, which includes a low concentration first portion near a surface and a high concentration second portion deeper than the first portion. The metal silicide film on the second part has a thickness larger than the first portion.
摘要翻译： SiC半导体器件包括：依次堆叠的衬底，漂移层和基极区域; 第一和第二源极区域和基极区域中的接触层; 穿透源区和基区的沟槽; 沟槽中的栅电极; 具有覆盖所述栅电极的接触孔的层间绝缘膜; 源极通过接触孔与源极区域和接触层耦合; 衬底上的漏电极; 和金属硅化物膜。高浓度第二源区比低浓度第一源区浅，并且具有被层间绝缘膜覆盖的部分，其包括表面附近的低浓度第一部分和比第一部分更深的高浓度第二部分。第二部分上的金属硅化物膜的厚度大于第一部分。

9. 发明授权

US08262267B2 Lamp device-integrated rearview mirror 有权
标题翻译：灯装置集成后视镜
公开(公告)号：US08262267B2
公开(公告)日：2012-09-11
申请号：US12453516
申请日：2009-05-13
申请人： Tsuyoshi Tsuda , Jun Morimoto
发明人： Tsuyoshi Tsuda , Jun Morimoto
IPC分类号： B60Q1/26 , B60R1/12
CPC分类号： B60R1/1207 , B62J6/02
摘要： A lamp device-integrated rearview mirror 30 includes a mirror member 34 oriented toward the rear side of a vehicle body and a single bulb 40 provided in a housing 31 attached to the vehicle body. The lamp device-integrated rearview mirror may also include a reflecting member 35 configured to reflect the light emitted from the bulb 40 toward the rear side of the vehicle body and a reflector 36 configured to reflect the light toward the front side of the vehicle body. The reflecting member 35 may be provided on the rear side of a lens 32 attached to the housing 31 to transmit the irradiation light, and the reflector 36 may be provided inside the housing 31. The mirror member 34 may be fitted in the opening portion of the housing 31.
摘要翻译：灯装置集成后视镜30包括朝向车体后侧定向的镜构件34和设置在安装在车身上的壳体31中的单个灯泡40。灯装置集成后视镜还可以包括被配置为将从灯泡40发射的光朝向车体的后侧反射的反射部件35和被构造成将光反射到车身前侧的反射器36。反射构件35可以设置在附接到壳体31的透镜32的后侧，以透射照射光，并且反射器36可以设置在壳体31的内部。反射镜构件34可以装配在外壳31。

10. 发明申请

US20120061682A1 SIC SEMICONDUCTOR DEVICE AND METHOD FOR MANUFACTURING THE SAME 有权
标题翻译： SIC半导体器件及其制造方法
公开(公告)号：US20120061682A1
公开(公告)日：2012-03-15
申请号：US13229892
申请日：2011-09-12
申请人： Toshimasa Yamamoto , Masahiro Sugimoto , Hidefumi Takaya , Jun Morimoto , Narumasa Soejima , Tsuyoshi Ishikawa , Yukihiko Watanabe
发明人： Toshimasa Yamamoto , Masahiro Sugimoto , Hidefumi Takaya , Jun Morimoto , Narumasa Soejima , Tsuyoshi Ishikawa , Yukihiko Watanabe
IPC分类号： H01L29/24 , H01L21/336
CPC分类号： H01L29/7813 , H01L29/086 , H01L29/1608 , H01L29/41766 , H01L29/45 , H01L29/66068
摘要： A SiC semiconductor device includes: a substrate, a drift layer, and a base region stacked in this order; first and second source regions and a contact layer in the base region; a trench penetrating the source and base regions; a gate electrode in the trench; an interlayer insulation film with a contact hole covering the gate electrode; a source electrode coupling with the source region and the contact layer via the contact hole; a drain electrode on the substrate; and a metal silicide film. The high concentration second source region is shallower than the low concentration first source region, and has a part covered with the interlayer insulation film, which includes a low concentration first portion near a surface and a high concentration second portion deeper than the first portion. The metal silicide film on the second part has a thickness larger than the first portion.
摘要翻译： SiC半导体器件包括：依次堆叠的衬底，漂移层和基极区域; 第一和第二源极区域和基极区域中的接触层; 穿透源区和基区的沟槽; 沟槽中的栅电极; 具有覆盖所述栅电极的接触孔的层间绝缘膜; 源极通过接触孔与源极区域和接触层耦合; 衬底上的漏电极; 和金属硅化物膜。高浓度第二源区比低浓度第一源区浅，并且具有被层间绝缘膜覆盖的部分，其包括表面附近的低浓度第一部分和比第一部分更深的高浓度第二部分。第二部分上的金属硅化物膜的厚度大于第一部分。

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