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1. 发明授权

US07492115B2 Legged mobile robot 有权
标题翻译：有腿的移动机器人
公开(公告)号：US07492115B2
公开(公告)日：2009-02-17
申请号：US10525222
申请日：2003-08-07
申请人： Hiroshi Gomi , Kazushi Hamaya , Hitoshi Toyoda , Yoshinari Takemura
发明人： Hiroshi Gomi , Kazushi Hamaya , Hitoshi Toyoda , Yoshinari Takemura
IPC分类号： B25J9/18
CPC分类号： B25J9/1065 , B62D57/032
摘要： In a legged mobile robot (1), each leg (2) has at least a first joint (16) and a second joint (18, 20) located below the first joint in the gravitational direction, and the actuator that drives the second joint (54, 56) is located at least one of a position same as that of the first joint and a position (28) above the first joint in the gravitational direction. With this, it becomes possible to lighten the weight of the ground-contacting ends of the legs and thereby provide a legged mobile robot enabling reduction of the inertial forces occurring in the legs during moving, particularly during high-speed moving.
摘要翻译：在有腿可动机器人（1）中，每个腿部（2）具有至少第一接头（16）和位于第一接头的重力方向下方的第二接头（18,20），驱动第二接头（54,56）位于与第一接头的位置相同的位置和在重力方向上的第一接头上方的位置（28）中的至少一个。由此，能够减轻腿的地面接触端的重量，从而提供有腿的移动机器人，从而能够减少移动期间腿部发生的惯性力，特别是在高速移动期间。

2. 发明申请

US20080203955A1 Legged Mobile Robot 有权
标题翻译：有腿的移动机器人
公开(公告)号：US20080203955A1
公开(公告)日：2008-08-28
申请号：US10525222
申请日：2003-08-07
申请人： Hiroshi Gomi , Kazushi Hamaya , Hitoshi Toyoda , Yoshinari Takemura
发明人： Hiroshi Gomi , Kazushi Hamaya , Hitoshi Toyoda , Yoshinari Takemura
IPC分类号： B62D57/032 , B25J9/00
CPC分类号： B25J9/1065 , B62D57/032
摘要： In a legged mobile robot (1), each leg (2) has at least a first joint (16) and a second joint (18, 20) located below the first joint in the gravitational direction, and the actuator that drives the second joint (54, 56) is located at least one of a position same as that of the first joint and a position (28) above the first joint in the gravitational direction. With this, it becomes possible to lighten the weight of the ground-contacting ends of the legs and thereby provide a legged mobile robot enabling reduction of the inertial forces occurring in the legs during moving, particularly during high-speed moving.
摘要翻译：在有腿可动机器人（1）中，每个腿部（2）具有至少第一接头（16）和位于第一接头的重力方向下方的第二接头（18,20），驱动第二接头（54,56）位于与第一接头的位置相同的位置和在重力方向上的第一接头上方的位置（28）中的至少一个。由此，能够减轻腿的地面接触端的重量，从而提供有腿的移动机器人，从而能够减少移动期间腿部发生的惯性力，特别是在高速移动期间。

3. 发明申请

US20050077856A1 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US20050077856A1
公开(公告)日：2005-04-14
申请号：US10499117
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032 , F16F9/04
CPC分类号： F16F9/0481 , B25J19/0091 , B62D57/032
摘要： A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow/outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state. Furthermore, during the bag-like member 19 in the inflating state during the lifting state of the foot mechanism 6, by controlling timing when the solenoid valve 27 is switched from a valve opening state to a valve closing state, a height of the bag-like member 19 in a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.
摘要翻译：设置在机器人腿部的脚部机构6中的着陆减震装置18包括在脚部机构6的底面侧上的可膨胀且可压缩的袋状构件19（可变容量元件）。袋状构件 19由橡胶等弹性材料构成。大气中的空气可以通过设置有电磁阀27等的流入/流出装置20流入和流出袋状构件19。在脚部机构6的着陆状态下，并且在脚部机构从着陆状态转移到提升状态之后的状态下，电磁阀27关闭，以将袋状部件19维持在压缩状态。此外，在脚部机构6的提升状态期间处于充气状态的袋状部件19中，通过控制电磁阀27从开阀状态切换到关闭状态的定时，压缩方向的板状构件19被控制为适合于步态机器人的高度。因此，能够容易地确保机器人的姿势稳定性，同时减少有腿可动机器人的腿部的着陆运动中的冲击负荷，并且还可以实现轻量化的构造。

4. 发明授权

US07228923B2 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US07228923B2
公开(公告)日：2007-06-12
申请号：US10499056
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B62D57/032
CPC分类号： B62D57/032 , B25J19/0091 , F16F9/0481
摘要： A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (a variable capacity element) is provided at a ground-contacting face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber and has a restoring force. An interior portion of the bag-like member 19 is communicated with the atmosphere side through a flow passage 20. During a landing motion of the leg, the bag-like member 19 makes contact with the ground to be compressed, and the air in the interior portion thereof flows out into the atmosphere through the flow passage 20, so that its outflow resistance is generated. Accordingly, a landing shock is reduced. In a lifting state of the leg, the restoring force of the bag-like member 19 allows the bag-like member 19 to be inflated while the air flows into the interior portion thereof. An impact load during the landing of the leg of the legged mobile robot may smoothly be reduced in a light-weight configuration.
摘要翻译：设置在机器人腿部的脚部机构6中的着陆减震装置18，其中在脚部机构6的接地面侧设置有可膨胀的袋状构件19（可变容量元件）。袋类构件19由橡胶等弹性材料构成，具有回复力。袋状构件19的内部通过流路20与大气侧连通。在腿的着陆运动期间，袋状构件19与地面接触以被压缩，并且空气在其内部部分通过流路20流入大气，从而产生其流出阻力。因此，降低着陆冲击。在腿的提升状态下，袋状构件19的恢复力允许袋状构件19在空气流入其内部部分时膨胀。腿型移动式机器人腿部着陆时的冲击载荷可以在轻型构型中平滑地减少。

5. 发明授权

US06967456B2 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US06967456B2
公开(公告)日：2005-11-22
申请号：US10499117
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032 , F16F9/04
CPC分类号： F16F9/0481 , B25J19/0091 , B62D57/032
摘要： A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow/outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state. Furthermore, during the bag-like member 19 in the inflating state during the lifting state of the foot mechanism 6, by controlling timing when the solenoid valve 27 is switched from a valve opening state to a valve closing state, a height of the bag-like member 19 in a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.
摘要翻译：设置在机器人腿部的脚部机构6中的着陆减震装置18包括在脚部机构6的底面侧的可膨胀且可压缩的袋状构件19（可变容量元件）。袋状构件19由橡胶等弹性材料构成。大气中的空气可以通过设置有电磁阀27等的流入/流出装置20流入和流出袋状构件19。在脚部机构6的着陆状态下，并且在脚部机构从着陆状态转移到提升状态之后的状态下，电磁阀27关闭，以将袋状部件19维持在压缩状态。此外，在脚部机构6的提升状态期间处于充气状态的袋状部件19中，通过控制电磁阀27从开阀状态切换到关闭状态的定时，压缩方向的板状构件19被控制为适合于步态机器人的高度。因此，能够容易地确保机器人的姿势稳定性，同时减少有腿可动机器人的腿部的着陆运动中的冲击负荷，并且还可以实现轻量化的构造。

6. 发明授权

US06962220B2 Leg joint assist device for leg type movable robot 有权
标题翻译：腿式可动机器人腿部关节辅助装置
公开(公告)号：US06962220B2
公开(公告)日：2005-11-08
申请号：US10490802
申请日：2002-09-24
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto
IPC分类号： A63H11/18 , B25J5/00 , B25J19/00 , F16F9/06 , G06F19/00
CPC分类号： F16F9/06 , B25J19/0008 , B25J19/0091 , Y10T74/20305
摘要： An assist device that applies an auxiliary driving force to a joint in parallel with a driving force of a joint actuator between a thigh portion and a crus portion, which are a pair of link members of a leg. The assist device generates the auxiliary driving force by use of spring device, such as a solid spring or an air spring. A member supporting a rod member connected to the spring device is provided with a device for transmitting a bending and stretching motion of the leg at the joint (a relative displacement motion between the thigh portion and the crus portion) to the spring device to generate an elastic force of the spring device, and for discontinuing the transmission of the bending and stretching motion to the spring device. This transmitting device is controlled in accordance with a gait of a robot. Thus, a burden on the joint actuator is reduced where necessary and favorable utilization efficiency of energy can be stably ensured.
摘要翻译：一种辅助装置，其将辅助驱动力与作为腿部的一对连杆构件的腿部和腿部之间的关节致动器的驱动力平行的接头施加。辅助装置通过使用诸如固体弹簧或空气弹簧的弹簧装置产生辅助驱动力。支撑连接到弹簧装置的杆构件的构件设置有用于将腿部在关节处的弯曲和拉伸运动（大腿部分和小腿部分之间的相对位移运动）传递到弹簧装置的装置，以产生弹簧装置的弹性力，以及用于中止弯曲和拉伸运动到弹簧装置的传递。该发送装置根据机器人的步态进行控制。因此，必要时能够减轻关节致动器的负担，能够稳定地确保能量利用效率。

7. 发明授权

US07378811B2 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US07378811B2
公开(公告)日：2008-05-27
申请号：US10499116
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B25J9/08
CPC分类号： B62D57/032 , B25J19/0091 , B62D57/02 , F16F9/0481 , F16F15/023 , Y10T74/20299
摘要： A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (variable capacity element) is provided at a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. The air in atmosphere may flow into and out of the bag-like member 19 by inflow/outflow means 20 equipped with a solenoid valve 27, and the like. In a lifting state of the foot mechanism 6, inflow of the air into the bag-like member 19 is controlled, thereby controlling the final height of the bag-like member 19 in an inflated state to the height in response to a gait type of the robot. While properly reducing an impact load during a landing motion of the leg of a legged mobile robot depending on the gait type of the robot, stability of a posture of the robot may easily be secured, resulting in allowing a configuration to be lighter in weight.
摘要翻译：一种设置在机器人腿部的脚部机构6中的着陆减震装置18，其中在脚部机构6的底面侧设置有可膨胀的袋状构件19（可变容量元件）。袋状构件19由橡胶等弹性材料构成。大气中的空气可以通过装有电磁阀27的流入/流出装置20流入和流出袋状构件19。在脚部机构6的提升状态下，空气进入袋状部件19的流入被控制，从而根据步态类型控制囊状部件19处于膨胀状态的最终高度至高度机器人。根据机器人的步态类型，在腿式移动机器人的脚的着陆运动期间恰当地减小冲击负荷的同时，可以容易地确保机器人姿势的稳定性，从而允许配置更轻。

8. 发明授权

US07143850B2 Leg joint assist device for legged movable robot 有权
标题翻译：用于腿式可移动机器人的腿关节辅助装置
公开(公告)号：US07143850B2
公开(公告)日：2006-12-05
申请号：US10494846
申请日：2002-10-07
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura
IPC分类号： B62D51/06
CPC分类号： B62D57/032 , B25J19/0012 , Y10T74/20305
摘要： An assist device is provided with a spring device that generates an auxiliary driving force, by an elastic energy, acting on a joint of a leg. The spring device includes a gas spring having a cylinder and a piston. Bending/stretching motion between link members and at the joint is transmitted to the spring device through a motion transmission device that includes a link arm. The spring device is provided so that the auxiliary driving force increases as a knee bending angle θ increases until the knee bending angle θ reaches a predetermined angle, and so that, once the knee bending angle θ exceeds the predetermined angle, the auxiliary driving force becomes smaller than or equal to the driving force obtaining at the predetermined angle, effectively reducing a burden on an actuator of the legged mobile robot joint.
摘要翻译：辅助装置设置有弹簧装置，其通过作用在腿的关节上的弹性能产生辅助驱动力。弹簧装置包括具有气缸和活塞的气弹簧。连杆构件和接头之间的弯曲/拉伸运动通过包括连杆臂的运动传递装置传递到弹簧装置。提供弹簧装置，使得辅助驱动力随着膝部弯曲角度θ增加直到膝部弯曲角度θ达到预定角度而增加，并且使得一旦膝部弯曲角度θ超过预定角度，则辅助驱动力变为小于或等于以预定角度获得的驱动力，有效地减轻了腿式可移动机器人接头的致动器的负担。

9. 发明申请

US20050120820A1 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US20050120820A1
公开(公告)日：2005-06-09
申请号：US10499116
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： A63H11/18 , B25J5/00 , B25J19/00 , B62D57/02 , B62D57/032 , F16F9/04 , F16F15/023 , G05G11/00 , G05G13/00
CPC分类号： B62D57/032 , B25J19/0091 , B62D57/02 , F16F9/0481 , F16F15/023 , Y10T74/20299
摘要： A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (variable capacity element) is provided at a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. The air in atmosphere may flow into and out of the bag-like member 19 by inflow/outflow means 20 equipped with a solenoid valve 27, and the like. In a lifting state of the foot mechanism 6, inflow of the air into the bag-like member 19 is controlled, thereby controlling the final height of the bag-like member 19 in an inflated state to the height in response to a gait type of the robot. While properly reducing an impact load during a landing motion of the leg of a legged mobile robot depending on the gait type of the robot, stability of a posture of the robot may easily be secured, resulting in allowing a configuration to be lighter in weight.
摘要翻译：一种设置在机器人腿部的脚部机构6中的着陆减震装置18，其中在脚部机构6的底面侧设置有可膨胀的袋状构件19（可变容量元件）。袋状构件19由橡胶等弹性材料构成。大气中的空气可以通过装有电磁阀27的流入/流出装置20流入和流出袋状构件19。在脚部机构6的提升状态下，空气进入袋状部件19的流入被控制，从而根据步态类型控制囊状部件19处于膨胀状态的最终高度至高度机器人。根据机器人的步态类型，在腿式移动机器人的脚的着陆运动期间恰当地减小冲击负荷的同时，可以容易地确保机器人的姿势的稳定性，从而允许配置更轻。

10. 发明申请

US20050011685A1 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US20050011685A1
公开(公告)日：2005-01-20
申请号：US10499056
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： A63H11/18 , B25J5/00 , B25J19/00 , B62D57/032 , F16F9/04 , B62D51/06
CPC分类号： B62D57/032 , B25J19/0091 , F16F9/0481
摘要： A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (a variable capacity element) is provided at a ground-contacting face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber and has a restoring force. An interior portion of the bag-like member 19 is communicated with the atmosphere side through a flow passage 20. During a landing motion of the leg, the bag-like member 19 makes contact with the ground to be compressed, and the air in the interior portion thereof flows out into the atmosphere through the flow passage 20, so that its outflow resistance is generated. Accordingly, a landing shock is reduced. In a lifting state of the leg, the restoring force of the bag-like member 19 allows the bag-like member 19 to be inflated while the air flows into the interior portion thereof. An impact load during the landing of the leg of the legged mobile robot may smoothly be reduced in a light-weight configuration.
摘要翻译：设置在机器人腿部的脚部机构6中的着陆减震装置18，其中在脚部机构6的接地面侧设置有可膨胀的袋状构件19（可变容量元件）。袋类构件19由橡胶等弹性材料构成，具有回复力。袋状构件19的内部通过流路20与大气侧连通。在腿部的着陆运动期间，袋状构件19与地面接触以被压缩，并且空气在其内部部分通过流路20流入大气，从而产生其流出阻力。因此，降低着陆冲击。在腿的提升状态下，袋状构件19的恢复力允许袋状构件19在空气流入其内部部分时膨胀。腿型移动式机器人腿部着陆时的冲击载荷可以在轻型构型中平滑地减少。

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