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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。

4. 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。

5. 发明授权

US06289895B1 Urethral compression device 失效
标题翻译：尿道压缩装置
公开(公告)号：US06289895B1
公开(公告)日：2001-09-18
申请号：US09301184
申请日：1999-04-28
申请人： Gordon Cheng , Sanjaya Kumar , Richard Beane , Richard Simmers
发明人： Gordon Cheng , Sanjaya Kumar , Richard Beane , Richard Simmers
IPC分类号： A61F548
CPC分类号： A61F2/0054 , Y10S128/25
摘要： A urethral compression device prevents male urinary incontinence by compressing the urethra. The device has a longitudinally extending pressure-applying element. The urethral compression device compress the urethra without applying undue force to other parts of the penis. The device incorporates a latching mechanism for the purpose of securing the device in a locked position with the pressure-applying element compressing the urethra of the penis. The device is designed to allow the user to manipulate the device using only one hand, if so desired.
摘要翻译：尿道压缩装置通过压缩尿道来防止男性尿失禁。该装置具有纵向延伸的压力施加元件。尿道压缩装置压迫尿道，而不会对阴茎的其他部位施加过度的力。该装置包括一个锁定机构，用于将该装置固定在锁定位置，同时压力施加元件压缩阴茎的尿道。该设备被设计成允许用户仅使用一只手来操纵设备，如果需要的话。

6. 发明授权

US06609522B2 Urethral compression device 失效
标题翻译：尿道压缩装置
公开(公告)号：US06609522B2
公开(公告)日：2003-08-26
申请号：US09955468
申请日：2001-09-17
申请人： Gordon Cheng , Sanjaya Kumar , Richard Beane , Richard Simmers
发明人： Gordon Cheng , Sanjaya Kumar , Richard Beane , Richard Simmers
IPC分类号： A61F548
CPC分类号： A61F2/0054 , Y10S128/25
摘要： A urethral compression device prevents male urinary incontinence by compressing the urethra. The device has a pressure-applying element. The urethral compression device compress the urethra. The device is designed to allow the user to manipulate the device using only one hand, if so desired.
摘要翻译：尿道压缩装置通过压缩尿道来防止男性尿失禁。该装置具有压力元件。尿道压缩装置压缩尿道。该设备被设计成允许用户仅使用一只手来操纵设备，如果需要的话。

7. 发明授权

US06234174B1 Urethral compression device 失效
标题翻译：尿道压缩装置
公开(公告)号：US06234174B1
公开(公告)日：2001-05-22
申请号：US09067522
申请日：1998-04-28
申请人： Gordon Cheng , Sanjaya Kumar
发明人： Gordon Cheng , Sanjaya Kumar
IPC分类号： A61F548
CPC分类号： A61F2/0054 , Y10S128/25
摘要： A urethral compression device prevents male urinary incontinence by compressing the urethra with a continuous, C-shaped structure which includes a curvilinear compression element extending from the inside surface of the structure. The urethral compression device compress the urethra without applying undue force to other parts of the penis. The device incorporates a ratchet mechanism on the ends of the C-shaped structure for the purpose of securing the device in a locked position. The device is designed to allow the user to manipulate the device using only one hand, if so desired.
摘要翻译：尿道压缩装置通过用连续的C形结构压缩尿道来防止男性尿失禁，其包括从结构的内表面延伸的曲线压缩元件。尿道压缩装置压迫尿道，而不会对阴茎的其他部位施加过度的力。该装置在C形结构的端部上包含棘轮机构，用于将装置固定在锁定位置。该设备被设计成允许用户仅使用一只手来操纵设备，如果需要的话。

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