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1. 发明专利

JP2014156216A Wheel-type movable body 审中-公开
标题翻译：轮式移动体
公开(公告)号：JP2014156216A
公开(公告)日：2014-08-28
申请号：JP2013028826
申请日：2013-02-18
申请人： Toyota Central R&D Labs Inc , 株式会社豊田中央研究所 , Toyota Motor Corp , トヨタ自動車株式会社
发明人： HIROSE NORIAKI , TSUSAKA YUJI , SHIMIZU TAKESHI , YANAKA SOHIRO , YAMAUCHI TOMOHIRO , SHIRAISHI TAKASHI
IPC分类号： B60G17/016 , B60G1/02
摘要： PROBLEM TO BE SOLVED: To enable stabilization of an attitude (roll angle) of a vehicle body even when great roll moment is generated in a rotational transition period.SOLUTION: A wheel-type movable body traveling on a road surface by rotating a wheel includes: a vehicle body to which the wheel is attached and which can be rotated around a roll axis; a roll angle adjuster which adjusts a roll angle of the vehicle body around the roll axis; and a control device which drives the roll angle adjuster at least on the basis of a yaw angle acceleration of the vehicle body around a yawing axis or a yaw angle acceleration command value.
摘要翻译：要解决的问题：即使在旋转过渡时段中产生大的滚动力矩也能使车身的姿态（侧倾角）稳定。解决方案：通过转动车轮在路面上行驶的车轮型移动体包括：：车轮，车轮安装在车体上，并且可以围绕辊轴线旋转; 滚动角调节器，其调节车体围绕辊轴线的侧倾角; 以及控制装置，其至少基于车身围绕偏航轴的偏航角加速度或偏航角加速度指令值来驱动侧倾角调节器。

2. 发明专利

JP2003340769A Wire-driven robot 有权
标题翻译：有线机器人
公开(公告)号：JP2003340769A
公开(公告)日：2003-12-02
申请号：JP2002146679
申请日：2002-05-21
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： KAWASE MASAO , TSUSAKA YUJI
IPC分类号： B25J17/00 , B25J5/00 , F16C1/14
摘要： PROBLEM TO BE SOLVED: To provide a mechanism to constantly guide a part in the vicinity of a connection point to a distal end side member against any attitude change of the distal end side member.
SOLUTION: Terminating ends of three wires 66a, 66b and 66c are connected to a foot part 18 at wire connection points 72a, 72b and 72c, and the foot part 18 is moved by combining extension and contraction of the three wires. Wire terminating end guides 70a, 70b and 70c having an arc-shaped surface to guide a part in the vicinity of the wire terminating ends are fixed to the foot part 18. The arc-shaped surface of each wire terminating end guide is uniformly extended in the axial direction, and the length in the axial direction is set to be the length capable of constantly guiding the part in the vicinity of the wire terminating end irrespective of any attitude change of the foot part 18. A center of an arc of each wire terminating end guide is closer to a leg part 16 than to each wire connection part.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种机构，用于不间断地引导远端侧构件的连接点附近的部分抵抗前端侧构件的任何姿态变化。解决方案：三线66a，66b和66c的终端在导线连接点72a，72b和72c处连接到脚部18，并且通过组合三条线的延伸和收缩来移动脚部18。具有用于引导电线端部附近的部分的弧形表面的电线端接引导件70a，70b和70c固定到脚部18.每个电线终端端引导件的弧形表面均匀延伸轴向方向和轴向长度被设定为能够恒定地引导电线终止端附近的部分的长度，而与脚部18的任何姿态变化无关。每条电线的弧的中心终端端引导件比每个线连接部分更靠近腿部16。版权所有（C）2004，JPO

3. 发明专利

JP2009214670A Wheeled inverted pendulum mobile unit 有权
标题翻译：车轮倒立移动单元
公开(公告)号：JP2009214670A
公开(公告)日：2009-09-24
申请号：JP2008059608
申请日：2008-03-10
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： KOIDE MITSUO , SUKIGARA KAZUTOSHI , TSUSAKA YUJI , DEO TAKASHI , YAMAOKA MASAAKI , YAMADA KOSHI
IPC分类号： B62D61/04 , B25J5/00 , B25J19/06
CPC分类号： G05D1/0891
摘要： PROBLEM TO BE SOLVED: To provide a wheeled inverted pendulum mobile unit capable of stopping itself without shaking its body.
SOLUTION: A mobile unit 100 includes support legs 20 downwardly extending from a body 10 and grounded at the front and behind of an axle 14 of driving wheels, with lower ends going up and down according to the inclination of the body 10, and a lock mechanism 26 fixing the position of the lower ends of the support members. The support legs 20 are grounded regardless of the operation/non-operation of an inverted pendulum control and move up and down according to the inclination of the body 10. Therefore, the support legs 20 do not interfere the inverted pendulum control though being grounded always. In the case of stopping the inverted pendulum control, the positions of the lower ends of the support legs 20 are fixed by operating the lock mechanism 26. When the inverted pendulum control shifts its state from operative to inoperative, the support legs 20 can support the body 10 without time lag. Thus, the body is not shaken by having the telescopic support legs 20 which is always grounded and the lock mechanism 26.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种轮式倒立摆移动单元，能够在不晃动其身体的情况下自行停止。解决方案：移动单元100包括从主体10向下延伸并且在驱动轮的轴14的前后接地的支撑腿20，其下端根据主体10的倾斜而上下移动，以及固定支撑构件的下端的位置的锁定机构26。无论倒立摆控制的操作/不操作，支撑腿20都是接地的，并且根据主体10的倾斜上下移动。因此，支撑腿20不会通过总是接地来干扰倒立摆控制。在停止倒立摆控制的情况下，通过操作锁定机构26来固定支撑腿20的下端的位置。当倒立摆控制器将其状态从操作转移到不可操作时，支撑腿20可以支撑身体10无时间滞后。因此，通过使总是接地的伸缩支撑腿20和锁定机构26来使身体不被摇动。版权所有（C）2009，JPO＆INPIT

4. 发明专利

JP2008049458A Leg type robot 审中-公开
标题翻译： LEG型机器人
公开(公告)号：JP2008049458A
公开(公告)日：2008-03-06
申请号：JP2006230452
申请日：2006-08-28
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SHIMADA HIROSHI , SUGA KEISUKE , MURAYAMA HIDEYUKI , KIKUCHI MITSUGI , TSUSAKA YUJI
IPC分类号： B25J5/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a leg type robot capable of smoothly walking on a walking surface where its irregularity is unknown.
SOLUTION: Data of a target position attitude angle for a foot sole part of a leg section 11 to an imaginary walking surface is included in walking data. A target distance calculating section 106 calculates a target distance between the foot sole part and imaginary walking surface from the walking data. A distance sensor 50 measures a distance between the real foot sole part and real walking surface. A distance deviation calculating means 106 calculates a deviation between the target distance and measured distance. A compensated amount calculating means 110 calculates an amount of compensation for compensating the target position attitude angle of the foot sole part in a direction where its deviation is lessened. A motor driver 116 drives a joint of the leg section so that the foot sole part can follow the target position attitude angle which adds the amount of compensation. Motions of the foot sole part to the real walking surface can be brought near the motions of the foot sole part to the walking surface in the walking figure data by reducing the distance deviation. Then, walking motions close to smooth walking motions in the walking data can be realized.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够在其不规则性未知的行走表面上平稳行走的腿型机器人。解决方案：步行数据中包括脚部11的脚部部分到假想行走表面的目标位置姿态角度的数据。目标距离计算部分106从步行数据计算脚部部分和假想行走表面之间的目标距离。距离传感器50测量真实足底部分和实际步行面之间的距离。距离偏差计算装置106计算目标距离和测量距离之间的偏差。补偿量计算装置110计算用于补偿脚底部件在其偏差减小的方向上的目标位置姿态角的补偿量。马达驱动器116驱动腿部的接合部，使得脚部部件能够跟随增加补偿量的目标位置姿态角度。通过减小距离偏差，可以使足底部分到真正的行走表面的运动靠近步行图数据中足底部分到行走表面的运动。然后，可以实现在步行数据中靠近平稳的步行动作的步行动作。版权所有（C）2008，JPO＆INPIT

5. 发明专利

JP2006035325A Robot 有权
标题翻译：机器人
公开(公告)号：JP2006035325A
公开(公告)日：2006-02-09
申请号：JP2004214343
申请日：2004-07-22
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： TSUSAKA YUJI
IPC分类号： B25J9/10 , A63H3/36 , A63H11/00 , A63H11/18 , B25J17/00
CPC分类号： B25J9/1045 , A63H11/18 , A63H2200/00 , B62D57/032
摘要： PROBLEM TO BE SOLVED: To provide a technique for properly adding a deviation of a joint angle to an operating amount of an actuator to advance/retreat a wire in a wire drive type robot. SOLUTION: The robot is provided with a body side member, a terminal end side member rotatably connected to the body side member, first/second wires connected to the terminal end side member, first/second actuators to advance/retreat the first/second wires, a first controller, which calculates the operating amount of the first actuator from a first correction command angle set by correcting a command angle with a deviation between the command angle and an actual angle, a second controller, which calculates the operating amount of the second actuator from a second correction command angle set by correcting the command angle with the deviation between the command angle and the actual angle, and an adjustment means for adjusting a correction amount of the command angle used by the first controller and/or the second controller corresponding to the magnitude of torque required for keeping a rotational angle of the terminal end side member at the command angle. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种适当地增加关节角度与致动器的操作量的偏差以使线驱动型机器人中的线前进/后退的技术。解决方案：机器人设置有主体侧构件，可转动地连接到车身侧构件的终端侧构件，连接到终端侧构件的第一/第二电线，用于前进/后退第一/ /第二线，第一控制器，其从通过用指令角和实际角度之间的偏差校正指令角度而设置的第一校正命令角度来计算第一致动器的操作量;第二控制器，其计算操作量通过用指令角与实际角度之间的偏差校正指令角度而设定的第二修正指令角度的调整装置，以及用于调整由第一控制器和/或实际角度使用的指令角度的修正量的调整装置第二控制器对应于将终端侧构件的旋转角度保持在指令角度所需的扭矩的大小。版权所有（C）2006，JPO＆NCIPI

6. 发明专利

JP2005052896A Bipedal robot and its controlling method 有权
标题翻译： BIPEDAL机器人及其控制方法
公开(公告)号：JP2005052896A
公开(公告)日：2005-03-03
申请号：JP2003205682
申请日：2003-08-04
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： TSUSAKA YUJI
IPC分类号： B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a control technology for of simplifying a tuning process of a robot without reducing its rigidity.
SOLUTION: A bipedal robot 84 walks by changing a relative positional relation among a left leg link 47, a waist 1 and a right leg link 17 according to walking figure data instructing with time the positions of a left toe 62, the waist 1 and the right toe 32. The robot 84 includes: a joint angles calculating means for calculating, from the walking figure data, joint angles of a plurality of joints located in a mechanical system constituted of the left leg link 47, the waist 1 and the right leg link 17; an actuator for adjusting the angle of each joint to the angle calculated by the calculating means; means 30 and 60 for detecting that the toes 32 and 62 of free legs have landed; and a means for correcting the walking figure data to slow down the speed in a height direction of the toes 32 and 62 when landing timing detected by the landing detecting means 30 and 60 is faster than a target value.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供用于简化机器人的调谐过程而不降低其刚性的控制技术。解决方案：双足机器人84通过根据随时间指示左脚趾62，腰部的位置的行走图数据改变左腿连接件47，腰部1和右腿连接件17之间的相对位置关系而行走机器人84包括：关节角度计算装置，用于根据行走图数据计算位于由左腿连杆47，腰部1和第二腰部1构成的机械系统中的多个关节的关节角度;以及右腿连接17; 用于将每个接头的角度调整为由所述计算装置计算的角度的致动器; 用于检测自由腿脚趾32和62着陆的装置30和60; 以及用于在由着陆检测装置30和60检测到的着陆定时比目标值更快时，校正行走图数据以减慢脚趾32和62的高度方向上的速度的装置。版权所有（C）2005，JPO＆NCIPI

7. 发明专利

JP2009107033A Legged mobile robot and its control method 审中-公开
标题翻译：移动机器人及其控制方法
公开(公告)号：JP2009107033A
公开(公告)日：2009-05-21
申请号：JP2007278727
申请日：2007-10-26
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SHIMADA HIROSHI , TSUSAKA YUJI
IPC分类号： B25J5/00 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To provide a legged mobile robot stably moving on an uneven ground, and also to provide its control method.
SOLUTION: The legged mobile robot 1 includes: a trunk gait data corrective calculation part 112 for calculating acceleration deviation defined as deviation between intended target trunk acceleration and current trunk acceleration; and a correction amount change part 116 for calculating deviation of the center of gravity defined as deviation between an intended target center-of-gravity position and a current center-of-gravity position and correcting a target gait data value by the deviation of the center of gravity and the acceleration deviation.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供在不平坦地面上稳定移动的有腿移动机器人，并提供其控制方法。腿式移动机器人1包括：躯干步态数据校正计算部分112，用于计算定义为预期目标躯干加速度与当前躯干加速度之间的偏差的加速度偏差; 以及校正量变更部116，用于计算重心的偏差，该重心定义为目标重心位置与当前重心位置之间的偏差，并且通过中心的偏差来校正目标步态数据值的重力和加速度偏差。版权所有（C）2009，JPO＆INPIT

8. 发明专利

JP2009107032A Legged robot and its control method 有权
标题翻译： LEGGED机器人及其控制方法
公开(公告)号：JP2009107032A
公开(公告)日：2009-05-21
申请号：JP2007278726
申请日：2007-10-26
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SHIMADA HIROSHI , TSUSAKA YUJI
IPC分类号： B25J5/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a legged robot stably walking on an uneven surface by executing an inverted control and a copying control with a good balance, and also to provide its control method.
SOLUTION: The robot 1 includes: a posture angle deviation calculation part 120 for obtaining deviation between a target trunk position posture angle and an actual trunk posture angle; an inverted control part 121 for calculating a trunk correction amount based on posture angle deviation; a trunk position correction part 124 for correcting the target trunk position by the trunk correction amount; a grounding extent calculation part 129 for calculating a grounding extent of a foot with respect to the ground based on a value of a distance sensor 131 provided on the rear of the foot; a coordinate conversion part 122 and a correction amount modification part 123 for obtaining a grounding direction of the foot on the ground from the grounding extent and correcting the trunk correction amount based on the grounding direction; and a trunk position posture angle correction part 125 for correcting the target trunk position posture angle based on the trunk correction amount modified by the modification part 123.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：通过执行反转控制和平衡的复制控制，提供一种稳定地在不平坦表面上行走的有腿机器人，并且还提供其控制方法。解决方案：机器人1包括：姿势角偏差计算部分120，用于获得目标主干位置姿势角和实际躯干姿势角之间的偏差; 反转控制部121，用于基于姿势角偏差计算躯干校正量; 中继线位置校正部分124，用于通过干线校正量校正目标主干位置; 接地范围计算部分129，用于基于设置在脚后部的距离传感器131的值来计算脚相对于地面的接地范围; 坐标转换部分122和校正量修正部分123，用于从接地范围获得地面上的脚的接地方向，并根据接地方向校正躯干校正量; 以及用于基于由修改部分123修改的躯干校正量来校正目标躯干位置姿势角的躯干位置姿势角校正部分125.（C）2009，JPO＆INPIT

9. 发明专利

JP2008188684A Biped robot 有权
标题翻译： BIPED机器人
公开(公告)号：JP2008188684A
公开(公告)日：2008-08-21
申请号：JP2007022740
申请日：2007-02-01
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SHIMADA HIROSHI , TAKEISHI SHINJI , TSUSAKA YUJI
IPC分类号： B25J13/00 , B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a biped robot in which a control system maintaining a position and attitude from the sole to the body based upon absolute coordinates in a target position and attitude, and a control system carrying out surface contact of a sole face to a ground contacting surface, are easily designed.
SOLUTION: Control of maintaining the position and attitude from the sole to the body based upon absolute coordinates in the target position and attitude is handled by an inverted control part 64 matching an actual attitude angle of the body to a target body attitude angle. An angle of inclination of the sole fact with respect to the ground contacting surface is detected by a distance sensor 16 and a sole attitude angle calculating part 52 provided on the sole. A deviation between the detected angle of inclination and a target sole attitude angle is added to an output of the inverted control part 64 and inputted into a copying control part 54. Control of carrying out surface contact of the sole face to the ground contacting surface is handled by the copying control part 54. A control system of the whole robot is composed such that a loop of the copying control system is nested in an inner side of a loop of the inverted control system. By such a composition, the inverted control system can be designed after designing the copying control system. The inverted control system and the copying control system can be designed in orderly sequence.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种两足动物机器人，其中基于目标位置和姿态的绝对坐标来保持从鞋底到身体的位置和姿态的控制系统，以及执行面部接触的控制系统易于设计的地面接触表面的底面。解决方案：基于目标位置和姿态的绝对坐标，将鞋底的位置和姿态保持到身体的控制是通过将身体的实际姿态角与目标体姿势角匹配的反转控制部64来处理的。相对于地面接触表面的唯一事实的倾斜角度由设置在鞋底上的距离传感器16和鞋底姿态角计算部52来检测。将检测到的倾斜角与目标鞋底姿态角之间的偏差加到反转控制部分64的输出端并输入到复制控制部分54.控制将底面与地面接触表面进行表面接触整个机器人的控制系统被构成为使得复制控制系统的环路嵌套在反向控制系统的环路的内侧。通过这样的组合，可以在设计复印控制系统之后设计反转控制系统。反转控制系统和复印控制系统可以按顺序设计。版权所有（C）2008，JPO＆INPIT

10. 发明专利

JP2004322283A Wire type robot capable of independently controlling attitude and rigidity 审中-公开
公开(公告)号：JP2004322283A
公开(公告)日：2004-11-18
申请号：JP2003123495
申请日：2003-04-28
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： YAMAMOTO TAKASHI , TSUSAKA YUJI
IPC分类号： A63H11/00 , B25J5/00 , B25J13/00 , B25J17/00
摘要： PROBLEM TO BE SOLVED: To independently control a turning angle and rigidity around a joint of a robot.
SOLUTION: This robot has an end side member 18 rotatable in an ankle joint 26, at least two wires 66a, 66b, and 66c having an end part installed on both sides for sandwiching the rotational center of this end side member 18, at least two actuators connected to the other end part of the respective wires, and expanding the respective wires, and a controller for controlling this actuator group. This controller controls a working quantity of the respective actuators, by inputting information on the successively changing turning angle of the end side member 18 and information on successively changing wire tension; and make them follow the indicated turning angle and rigidity.
COPYRIGHT: (C)2005,JPO&NCIPI

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