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1. 发明申请

US20050267630A1 Walking gait producing device for walking robot 审中-公开
标题翻译：步行机器人行走步态生产装置
公开(公告)号：US20050267630A1
公开(公告)日：2005-12-01
申请号：US10529252
申请日：2003-09-17
申请人： Shuuji Kajita , Fumio Kanehiro , Kenji Kaneko , Kiyoshi Fujiwara , Kensuke Harada , Kazuhito Yokoi , Hirohisa Hirukawa
发明人： Shuuji Kajita , Fumio Kanehiro , Kenji Kaneko , Kiyoshi Fujiwara , Kensuke Harada , Kazuhito Yokoi , Hirohisa Hirukawa
IPC分类号： B25J5/00 , B62D57/032 , G05D1/02 , G06F19/00
CPC分类号： B62D57/032
摘要： An object of the present invention is to provide a gait pattern generating device by which a gait pattern of a robot such as a humanoid bipedal walking robot having a structure easy to fall down can be generated easily in real time. This device calculates a driving quantity of the center of gravity in one moment using a preview control method based on feedback of the motion state of the center of gravity in that moment, and feed-forward of a future ZMP trajectory up to a few seconds from that moment. Next, the robot is driven to obtain the obtained center-of-gravity trajectory. Thus, a walking motion is attained.
摘要翻译：本发明的目的是提供一种步态模式生成装置，通过该步态模式生成装置，可以容易地实时地生成具有易于掉落的结构的人形双足行走机器人的机器人的步态图案。该装置使用基于该时刻的重心的运动状态的反馈的预览控制方法以及将来的ZMP轨迹的前馈直到几秒钟来一次计算重心的驱动量那一刻。接下来，驱动机器人以获得获得的重心轨迹。因此，获得了步行运动。

2. 发明申请

US20050166687A1 Method and device for detecting low rigidity 审中-公开
标题翻译：检测低刚性的方法和装置
公开(公告)号：US20050166687A1
公开(公告)日：2005-08-04
申请号：US10500853
申请日：2003-01-17
申请人： Kenji Kaneko , Kazuhito Yokoi , Shuuji Kajita , Fumio Kanehiro , Kiyoshi Fujiwara , Hirohisa Hirukawa , Shigehiko Ota , Toshikazu Kawasaki , Kazuhiko Akachi , Takakatsu Isozumi
发明人： Kenji Kaneko , Kazuhito Yokoi , Shuuji Kajita , Fumio Kanehiro , Kiyoshi Fujiwara , Hirohisa Hirukawa , Shigehiko Ota , Toshikazu Kawasaki , Kazuhiko Akachi , Takakatsu Isozumi
IPC分类号： B25J19/02 , G01G23/00 , G01L1/02 , G01L1/26
CPC分类号： G01G23/005 , G01L1/26
摘要： A method for detecting a low rigid force and a device therefor are provided in that even a large impact force is applied, by integrating an impact absorbing unit with the force detection mechanism, a force detection mechanism may not be damaged. To that end, between a pair of substrates 2a and 2b opposing each other and undergoing displacement in a direction changing the space between them by an impact force applied thereto, at least one absorption detection mechanism 3 integrally including an impact absorbing unit 4 and a force detecting unit 5 is interposed, so that a force applied between both the substrates 2a and 2b is detected by the force detecting unit 5 while an impact force applied between both the substrates 2a and 2b being absorbed by an elastic force of the impact absorbing unit 4.
摘要翻译：提供了一种用于检测低刚性力的方法及其装置，其特征在于，即使施加较大的冲击力，通过将冲击吸收单元与力检测机构相集成，力检测机构也不会被损坏。为此，在一对彼此相对的基板2a和2b之间，通过施加到其上的冲击力沿着改变它们之间的空间的方向发生位移;至少一个吸收检测机构3，其一体地包括冲击吸收单元4和插入力检测单元5，使得通过力检测单元5检测施加在两个基板2a和2b之间的力，同时施加在两个基板2a和2b之间的冲击力被弹性力吸收的冲击吸收单元4。

3. 发明申请

US20060138988A1 Method and device for accurately detecting attitude of movable body 审中-公开
标题翻译：准确检测移动体姿态的方法和装置
公开(公告)号：US20060138988A1
公开(公告)日：2006-06-29
申请号：US10521773
申请日：2003-07-18
申请人： Kenji Kaneko , Fumio Kanehiro , Kazuhiro Yokoi , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
发明人： Kenji Kaneko , Fumio Kanehiro , Kazuhiro Yokoi , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
IPC分类号： G05B11/01
CPC分类号： B62D57/032 , G01C21/16 , G05D1/0891
摘要： By providing a moving body with a high-accuracy attitude detection mechanism including a pair of a first rate gyroscope for detecting the attitude of the moving body and a second rate gyroscope which obtains an output inverted from that of the first rate gyroscope and the variations in the outputs of the rate gyroscopes are mutually compensated for, thereby accurately detecting the attitude information of the moving body.
摘要翻译：通过提供具有高精度姿态检测机构的移动体，该机构包括一对用于检测移动体的姿态的第一速率陀螺仪和获得与第一速率陀螺仪的输出相反的输出的第二速率陀螺仪，速率陀螺仪的输出被相互补偿，从而准确地检测移动体的姿态信息。

4. 发明申请

US20050240308A1 Method and device for controlling walking of legged robot 审中-公开
标题翻译：用于控制腿式机器人走路的方法和装置
公开(公告)号：US20050240308A1
公开(公告)日：2005-10-27
申请号：US10511608
申请日：2003-05-07
申请人： Kenji Kaneko , Kazuhiko Yokoi , Fumio Kanehiro , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
发明人： Kenji Kaneko , Kazuhiko Yokoi , Fumio Kanehiro , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
IPC分类号： B25J13/00 , B25J5/00 , B62D57/032 , G06F19/00
CPC分类号： B62D57/032
摘要： The present invention provides a walking control method and a walking control apparatus for achieving stable attitude control of a legged robot. In the walking control of the legged robot, basically, a foot-sole coordinate system based on sole positions and having at least a first coordinate axis in a direction connecting soles of both legs and a second coordinate axis perpendicular to the first coordinate axis in a horizontal plane is used as a control coordinate system, and attitude control is performed with different control characteristics for the first and second coordinate axes. Accordingly, the legged robot includes sole position sensors for detecting the sole positions of ground-contacting legs, ground contact sensors for detecting the state of the ground-contacting legs or a motion controller for generating the state of the ground-contacting legs, a control device which performs the walking control using a coordinate system based on the direction connecting the soles of the legs as a control coordinate system in accordance with the detected sole positions and the state of the ground-contacting legs, and leg actuators controlled by the control device.
摘要翻译：本发明提供了一种用于实现腿式机器人的稳定姿态控制的步行控制方法和步行控制装置。在腿式机器人的步行控制中，基本上是基于鞋底位置的脚底坐标系，并且在与第一坐标轴垂直的方向上具有至少第一坐标轴和第二坐标轴的坐标轴水平面用作控制坐标系，并且对于第一和第二坐标轴执行具有不同控制特性的姿态控制。因此，腿式机器人包括用于检测地面接触腿的唯一位置的底部位置传感器，用于检测地面接触腿的状态的接地接触传感器或用于产生接地腿的状态的运动控制器，装置，其使用基于根据检测到的底部位置和接地腿的状态的腿的腿部的方向作为控制坐标系的坐标系执行步行控制，以及由控制装置控制的腿致动器。

5. 发明申请

US20060011391A1 Supplementary support structure for robot 有权
标题翻译：机器人补充支撑结构
公开(公告)号：US20060011391A1
公开(公告)日：2006-01-19
申请号：US10513827
申请日：2003-05-07
申请人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
发明人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
IPC分类号： B62D51/06
CPC分类号： B62D57/032 , B25J19/0091
摘要： A supplementary support structure, which supports the body of a robot (1), comprises a contact component (7) which is disposed in a part near a joint (2c) on the distal end, having a hand (3) disposed thereon, of an arm (2) of the robot (1) so as to come into contact with a surface on which the robot (1) is supported, such as a floor surface, and a member which lies between the part having the contact component (7) disposed therein and the proximal end of the arm (2). Thus, the supplementary support structure can avoid an increase in the weight of the hand resulting from the support structure, thus eliminate an extra load on a driving system for the hand or the arm, and thus achieve the simplification and size reduction of the driving system. Moreover, the support structure can increase the degree of freedom of the shape or functional design of the hand and thus improve the functioning of the robot.
摘要翻译：一种辅助支撑结构，其支撑机器人（1）的主体，包括接触部件（7），其设置在远端上的接头（2c）附近的部分中，具有设置在其上的手（3）（1）的臂（2）与支撑机器人（1）的表面（例如地板表面）接触并且位于具有接触部件的部件之间的部件（ 7）和臂（2）的近端。因此，辅助支撑结构可以避免由支撑结构产生的手的重量的增加，从而消除用于手或臂的驱动系统的额外的负载，并且因此实现驱动系统的简化和减小尺寸。此外，支撑结构可以增加手的形状或功能设计的自由度，从而改善机器人的功能。

6. 发明授权

US07896112B2 Supplementary support structure for robot 有权
标题翻译：机器人补充支撑结构
公开(公告)号：US07896112B2
公开(公告)日：2011-03-01
申请号：US10513827
申请日：2003-05-07
申请人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
发明人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
IPC分类号： B62D51/06
CPC分类号： B62D57/032 , B25J19/0091
摘要： A supplementary support structure, which supports the body of a robot (1), comprises a contact component (7) which is disposed in a part near a joint (2c) on the distal end, having a hand (3) disposed thereon, of an arm (2) of the robot (1) so as to come into contact with a surface on which the robot (1) is supported, such as a floor surface, and a member which lies between the part having the contact component (7) disposed therein and the proximal end of the arm (2). Thus, the supplementary support structure can avoid an increase in the weight of the hand resulting from the support structure, thus eliminate an extra load on a driving system for the hand or the arm, and thus achieve the simplification and size reduction of the driving system. Moreover, the support structure can increase the degree of freedom of the shape or functional design of the hand and thus improve the functioning of the robot.
摘要翻译：一种辅助支撑结构，其支撑机器人（1）的主体，包括接触部件（7），该接触部件设置在远端上的接头（2c）附近，具有设置在其上的手（3）所述机器人（1）的臂（2）与所述机器人（1）所支撑的表面（例如地板表面）接触，并且所述部件位于具有所述接触部件（7））和臂（2）的近端。因此，辅助支撑结构可以避免由支撑结构产生的手的重量的增加，从而消除用于手或臂的驱动系统的额外的负载，并且因此实现驱动系统的简化和减小尺寸。此外，支撑结构可以增加手的形状或功能设计的自由度，从而改善机器人的功能。

7. 发明申请

US20090165920A1 PRESSURE-SENSITIVE ADHESIVE DOUBLE-COATED SHEET 审中-公开
标题翻译：压敏胶粘双面涂层
公开(公告)号：US20090165920A1
公开(公告)日：2009-07-02
申请号：US12403460
申请日：2009-03-13
申请人： Tomoo Yamaguchi , Masayuki Ishikawa , Kenji Kaneko , Kazumasa Asano , Yasunobu Ina
发明人： Tomoo Yamaguchi , Masayuki Ishikawa , Kenji Kaneko , Kazumasa Asano , Yasunobu Ina
IPC分类号： B32B37/00
CPC分类号： C09J7/22 , C09J7/38 , C09J7/383 , C09J2201/128 , C09J2421/00 , Y10T428/2848 , Y10T428/2857
摘要： A pressure-sensitive adhesive double-coated sheet comprising a substrate, a pressure-sensitive adhesive layer (A) formed on one side of the substrate and a pressure-sensitive adhesive layer (B) formed on the other side of the substrate, wherein at least the pressure-sensitive adhesive layer (A) is formed with a pressure-sensitive adhesive comprising a butyl rubber as base material, and after the pressure-sensitive adhesive double-coated sheet is allowed to stand at 60° C. for five days while being placed between a moisture vapor-permeable waterproof sheet attached to the adhesive layer (A) and an aluminum plate attached to the adhesive layer (B), an expansion coefficient of the moisture vapor-permeable waterproof sheet is 0.5% or less. The pressure-sensitive adhesive double-coated sheet can allow the moisture vapor-permeable waterproof sheet to less expand over time when attached between the moisture vapor-permeable waterproof sheet and the adherend in a waterproof airtight structure of a construction.
摘要翻译：一种压敏粘合剂双面涂布片，其包含基材，形成在所述基材一侧上的粘合剂层（A）和形成在所述基材的另一侧上的压敏粘合剂层（B），其中在至少压敏粘合剂层（A）由包含丁基橡胶作为基材的压敏粘合剂形成，并且将压敏粘合剂双面涂布片在60℃下放置5天，放置在附着在粘合剂层（A）的透湿性防水薄片和附着在粘合剂层（B）上的铝板之间，透湿防水薄膜的膨胀系数为0.5％以下。粘合剂双面涂布片可以在构造的防水密封结构中，在透湿水性防水片和被粘物之间附着时，能够使透湿性防水薄片随时间扩张。

8. 发明授权

US07509891B2 Button making device, button, and method of mounting pressing mold in button making device 有权
标题翻译：按钮制作装置，按钮和按钮制造装置中的按压模具的安装方法
公开(公告)号：US07509891B2
公开(公告)日：2009-03-31
申请号：US10545301
申请日：2004-02-13
申请人： Suyako Miyake , Kenji Kaneko , Kaori Ojima , Yukie Momoi , Keiichi Kazami , Kenetsu Kikuchi , Mitsuo Tamura , Iwakichi Ogawa
发明人： Suyako Miyake , Kenji Kaneko , Kaori Ojima , Yukie Momoi , Keiichi Kazami , Kenetsu Kikuchi , Mitsuo Tamura , Iwakichi Ogawa
IPC分类号： A44B1/00
CPC分类号： A44B1/126 , A44C3/001 , A44C27/00 , Y10T24/36
摘要： A button making device capable of simply exchanging a first pressed mold, a second pressed mold, and a pressing mold so as to produce buttons of different sizes; a polygonal button whose front surface plate is dome-wise curved and has its shape fixed; and such a button making device, are provided. The button making device has a sliding platform, two pressed molds, a fixed member, a pressing shaft, a pressing mold, and an operation mechanism. The pressed molds are provided on an attachment member which is removably attached to the sliding platform. The pressing mold is removably attached to a lower end of the pressing shaft using magnetic force. The present invention can be used for a button making device which can easily form a metal button by press processing which can be used as an accessory adhered to clothes or the like by a pin or the like.
摘要翻译：一种按钮制造装置，其能够简单地更换第一压制模具，第二压制模具和按压模具，以便产生不同尺寸的按钮; 一个多边形按钮，其前表面板圆顶弯曲并具有固定的形状; 和这样的按钮制造装置。按钮制造装置具有滑动平台，两个压模，固定构件，按压轴，压模和操作机构。压模设置在可移除地附接到滑动平台的附接构件上。按压模具利用磁力可拆卸地安装在按压轴的下端。本发明可以用于能够通过冲压加工容易地形成金属按钮的按钮制造装置，该按压制造装置可以用作通过销等附着在衣服等上的附件。

9. 发明申请

US20080110227A1 Method of working metal, metal body obtained by the method and metal-containting ceramic body obtained by the method 有权
标题翻译：通过该方法获得的金属加工金属体和通过该方法获得的含金属陶瓷体的方法
公开(公告)号：US20080110227A1
公开(公告)日：2008-05-15
申请号：US12002967
申请日：2007-12-19
申请人： Zenji Horita , Katsuaki Nakamura , Koji Neishi , Michihiko Nakagaki , Kenji Kaneko
发明人： Zenji Horita , Katsuaki Nakamura , Koji Neishi , Michihiko Nakagaki , Kenji Kaneko
IPC分类号： B21D31/00
CPC分类号： C21D7/02 , B21C23/001 , B21J1/025 , B62D27/023 , C21D7/00 , C21D7/13 , C21D9/0075 , C21D9/08 , C21D9/28 , C21D9/60 , C21D10/00 , C21D2201/03 , C21D2221/00 , C21D2251/00 , C21D2281/00 , C22F1/00 , Y02P10/253 , Y10S72/71 , Y10T428/12
摘要： A method of working metal in which the microstructure of metal body is rendered fine to thereby enhance the strength, ductility or homogeneity thereof; a metal body obtained by the metal working method; and a metal-containing ceramic body obtained by the metal working method. In this metal working method, the deformation resistance of metal body or metal-containing ceramic body (hereinafter referred to simply as “metal body”) is lowered locally to thereby form low deformation resistance regions in the metal body, and shear deformation of the low deformation resistance regions is effected so as to fine the microstructure of metal body. In particular, the metal body is formed in unidirectionally drawn configuration so as to produce low deformation resistance regions crossing the metal body. Further, with respect to two non-low deformation resistance regions arranged to sandwich low deformation resistance region crossing the metal body, one non-low deformation resistance region is caused to have a relative position change to the other non-low deformation resistance region so as to effect shear deformation of the low deformation resistance region. The low deformation resistance regions can be moved along the direction of drawing of the metal body.
摘要翻译：一种金属加工方法，其中金属体的微细结构细化，从而提高其强度，延展性或均匀性; 通过金属加工方法获得的金属体; 和通过金属加工方法得到的含金属陶瓷体。在这种金属加工方法中，金属体或含金属陶瓷体（以下简称为“金属体”）的变形阻力局部地降低，从而在金属体中形成低变形阻力区域，并且低的剪切变形实现变形阻力区域，以使金属体的微观结构细化。特别地，金属体形成为单向拉伸构造，以便产生与金属体交叉的低变形阻力区域。此外，对于与夹着与金属体交叉的低变形阻力区域配置的两个非低变形阻力区域，使一个非低变形阻力区域相对于另一非低变形阻力区域发生相对位置变化，以实现低变形阻力区域的剪切变形。低变形阻力区域可以沿着金属体的拉伸方向移动。

10. 发明申请

US20080110226A1 Method of working metal, metal body obtained by the method and metal-containing ceramic body obtained by the method 有权
标题翻译：通过该方法获得的金属加工金属体和通过该方法获得的含金属陶瓷体的方法
公开(公告)号：US20080110226A1
公开(公告)日：2008-05-15
申请号：US12002951
申请日：2007-12-19
申请人： Zenji Horita , Katsuaki Nakamura , Koji Neishi , Michihiko Nakagaki , Kenji Kaneko
发明人： Zenji Horita , Katsuaki Nakamura , Koji Neishi , Michihiko Nakagaki , Kenji Kaneko
IPC分类号： B21D37/16 , B21D11/00
CPC分类号： C21D7/02 , B21C23/001 , B21J1/025 , B62D27/023 , C21D7/00 , C21D7/13 , C21D9/0075 , C21D9/08 , C21D9/28 , C21D9/60 , C21D10/00 , C21D2201/03 , C21D2221/00 , C21D2251/00 , C21D2281/00 , C22F1/00 , Y02P10/253 , Y10S72/71 , Y10T428/12
摘要： A method of working metal in which the microstructure of metal body is rendered fine to thereby enhance the strength, ductility or homogeneity thereof; a metal body obtained by the metal working method; and a metal-containing ceramic body obtained by the metal working method. In this metal working method, the deformation resistance of metal body or metal-containing ceramic body (hereinafter referred to simply as “metal body”) is lowered locally to thereby form low deformation resistance regions in the metal body, and shear deformation of the low deformation resistance regions is effected so as to fine the microstructure of metal body. In particular, the metal body is formed in unidirectionally drawn configuration so as to produce low deformation resistance regions crossing the metal body. Further, with respect to two non-low deformation resistance regions arranged to sandwich low deformation resistance region crossing the metal body, one non-low deformation resistance region is caused to have a relative position change to the other non-low deformation resistance region so as to effect shear deformation of the low deformation resistance region. The low deformation resistance regions can be moved along the direction of drawing of the metal body.
摘要翻译：一种金属加工方法，其中金属体的微细结构细化，从而提高其强度，延展性或均匀性; 通过金属加工方法获得的金属体; 和通过金属加工方法得到的含金属陶瓷体。在这种金属加工方法中，金属体或含金属陶瓷体（以下简称为“金属体”）的变形阻力局部地降低，从而在金属体中形成低变形阻力区域，并且低的剪切变形实现变形阻力区域，以使金属体的微观结构细化。特别地，金属体形成为单向拉伸构造，以便产生与金属体交叉的低变形阻力区域。此外，对于与夹着与金属体交叉的低变形阻力区域配置的两个非低变形阻力区域，使一个非低变形阻力区域相对于另一非低变形阻力区域发生相对位置变化，以实现低变形阻力区域的剪切变形。低变形阻力区域可以沿着金属体的拉伸方向移动。

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