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1. 发明申请

US20060184272A1 Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：US20060184272A1
公开(公告)日：2006-08-17
申请号：US10538770
申请日：2003-12-11
申请人： Yasunao Okazaki , Kazuyuki Sakiyama , Katsuhiko Asai , Masaki Yamamoto
发明人： Yasunao Okazaki , Kazuyuki Sakiyama , Katsuhiko Asai , Masaki Yamamoto
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , G05B2219/39543 , G05B2219/40609
摘要： Realized is a robot controller capable of handling a large amount of data of images and so on necessary for advanced intelligence of control while securing a real-time performance with a simple structure. For this purpose, there are provided a motion control means for performing a calculation process for achieving motion control of an object to be controlled, a recognition and planning means for performing task and motion planning of the object to be controlled and recognition of outside world, an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled, and a route selecting means for controlling communications by switching connections among the motion control means, the recognition and planning means, and the input/output interface. While controlling the communications by switching the connections among the motion control means, the recognition and planning means, and the input/output interface by the route selecting means, the motions of the robot of the object to be controlled are controlled on the basis of the results of the task and motion planning of the object to be controlled and the recognition of the outside world.
摘要翻译：实现了一种机器人控制器，能够处理大量数据的图像数据，因此需要先进的控制智能，同时以简单的结构确保实时性能。为此，提供了一种用于执行用于实现要控制的对象的运动控制的计算处理的运动控制装置，用于执行要控制的对象和外部世界的识别的任务和运动规划的识别和规划装置，输入/输出接口，用于向待控制的对象输出一个命令，接收作为输入的对象，被控制对象的状态;以及路径选择装置，用于通过切换运动控制装置之间的连接来控制通信，识别和规划意思和输入/输出接口。在通过切换运动控制装置之间的连接，识别和规划装置以及由路径选择装置的输入/输出接口来控制通信的同时，基于被控制的对象的机器人的运动进行控制要控制的对象的任务和运动规划的结果以及对外界的认可。

2. 发明授权

US07415321B2 Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：US07415321B2
公开(公告)日：2008-08-19
申请号：US10538770
申请日：2003-12-11
申请人： Yasunao Okazaki , Kazuyuki Sakiyama , Katsuhiko Asai , Masaki Yamamoto
发明人： Yasunao Okazaki , Kazuyuki Sakiyama , Katsuhiko Asai , Masaki Yamamoto
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , G05B2219/39543 , G05B2219/40609
摘要： Realized is a robot controller capable of handling a large amount of data of images and so on necessary for advanced intelligence of control while securing a real-time performance with a simple structure. For this purpose, there are provided a motion control device for performing a calculation process for achieving motion control of an object to be controlled, a recognition and planning device for performing task and motion planning of the object to be controlled and recognition of outside world, an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled, and a route selecting device for controlling communications by switching connections among the motion control device the recognition and planning device, and the input/output interface. While controlling the communications by switching the connections among the motion control device, the recognition and planning device, and the input/output interface by the route selecting device, the motions of the robot of the object to be controlled are controlled on the basis of the results of the task and motion planning of the object to be controlled and the recognition of the outside world.
摘要翻译：实现了一种机器人控制器，能够处理大量数据的图像数据，因此需要先进的控制智能，同时以简单的结构确保实时性能。为此，提供了一种用于执行用于实现要控制的对象的运动控制的计算处理的运动控制装置，用于执行要控制的对象的任务和运动规划的识别和计划装置以及外部世界的识别，输入/输出接口，用于向要被控制和接收的对象输出命令，要被控制的对象的状态;以及路由选择装置，用于通过在运动控制装置之间切换连接来进行通信，该识别和规划装置，以及输入/输出接口。在通过切换运动控制装置，识别和规划装置之间的连接以及路线选择装置的输入/输出接口来控制通信的同时，基于所控制的对象的机器人的运动进行控制要控制的对象的任务和运动规划的结果以及对外界的认可。

3. 发明申请

US20060174761A1 Compressible fluid pressure actuator 有权
标题翻译：可压缩流体压力执行器
公开(公告)号：US20060174761A1
公开(公告)日：2006-08-10
申请号：US11360815
申请日：2006-02-24
申请人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
发明人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
IPC分类号： F01B19/00
CPC分类号： F15B11/04 , B25J9/1075 , B25J9/142 , F15B11/06 , F15B15/103 , F15B2211/40507 , F15B2211/7052 , F15B2211/755
摘要： An inner space connected to a power source and an inner space connected by way of a pressure loss part with respect to the flow of compressible fluid are provided, thereby obtaining effects similar to when the volume occupied by the compressible fluid with respect to the entire inner space is reduced when the pressure of the pressure source is rapidly changed, and effects similar to when the entire inner space is one space when static load is applied from the outside.
摘要翻译：提供连接到电源的内部空间和通过压缩损失部分相对于可压缩流体的流动连接的内部空间，从而获得与当可压缩流体相对于整个内部的体积占据的效果相似的效果当压力源的压力快速变化时，空间减小，并且当从外部施加静负荷时，当整个内部空间是一个空间时，效果类似。

4. 发明申请

US20060207419A1 Apparatus and method for controlling elastic actuator 有权
标题翻译：用于控制弹性致动器的装置和方法
公开(公告)号：US20060207419A1
公开(公告)日：2006-09-21
申请号：US11384568
申请日：2006-03-21
申请人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
发明人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
IPC分类号： F15B21/02
CPC分类号： F15B11/20 , B25J9/142 , F15B9/09 , F15B15/103
摘要： An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.
摘要翻译：通过压力测量装置测量液压气动驱动致动器的内部压力，测量可移动机构的位移量，输入期望值和位移的测量值，以便通过位置误差补偿来补偿位置误差通过期望的压力差计算装置计算通过期望值执行对向驱动的致动器的压力差的期望值，来自位置误差补偿装置，期望压力差计算装置和压力的输出输入测量装置，并通过压差误差补偿装置补偿压差误差。

5. 发明申请

US20070118252A1 Apparatus and method for controlling elastic actuator 有权
公开(公告)号：US20070118252A1
公开(公告)日：2007-05-24
申请号：US11654569
申请日：2007-01-18
申请人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
发明人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
IPC分类号： G06F19/00
CPC分类号： F15B11/20 , B25J9/142 , F15B9/09 , F15B15/103
摘要： An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.

6. 发明授权

US07213503B2 Compressible fluid pressure actuator 有权
标题翻译：可压缩流体压力执行器
公开(公告)号：US07213503B2
公开(公告)日：2007-05-08
申请号：US11360815
申请日：2006-02-24
申请人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
发明人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
IPC分类号： F01B19/04
CPC分类号： F15B11/04 , B25J9/1075 , B25J9/142 , F15B11/06 , F15B15/103 , F15B2211/40507 , F15B2211/7052 , F15B2211/755
摘要： An inner space connected to a power source and an inner space connected by way of a pressure loss part with respect to the flow of compressible fluid are provided, thereby obtaining effects similar to when the volume occupied by the compressible fluid with respect to the entire inner space is reduced when the pressure of the pressure source is rapidly changed, and effects similar to when the entire inner space is one space when static load is applied from the outside.
摘要翻译：提供连接到电源的内部空间和通过压缩损失部分相对于可压缩流体的流动连接的内部空间，从而获得与当可压缩流体相对于整个内部的体积占据的效果相似的效果当压力源的压力快速变化时，空间减小，并且当从外部施加静负荷时，当整个内部空间是一个空间时，效果类似。

7. 发明授权

US07184858B2 Apparatus and method for controlling elastic actuator 有权
公开(公告)号：US07184858B2
公开(公告)日：2007-02-27
申请号：US11384568
申请日：2006-03-21
申请人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
发明人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： F15B11/20 , B25J9/142 , F15B9/09 , F15B15/103
摘要： An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.

8. 发明授权

US07260450B2 Apparatus and method for controlling elastic actuator 有权
标题翻译：用于控制弹性致动器的装置和方法
公开(公告)号：US07260450B2
公开(公告)日：2007-08-21
申请号：US11654569
申请日：2007-01-18
申请人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
发明人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
IPC分类号： G05B19/00 , G05B19/18
CPC分类号： F15B11/20 , B25J9/142 , F15B9/09 , F15B15/103
摘要： An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.
摘要翻译：通过压力测量装置测量液压气动驱动致动器的内部压力，测量可移动机构的位移量，输入期望值和位移的测量值，以便通过位置误差补偿来补偿位置误差通过期望的压力差计算装置计算通过期望值执行对向驱动的致动器的压力差的期望值，来自位置误差补偿装置，期望压力差计算装置和压力的输出输入测量装置，并通过压差误差补偿装置补偿压差误差。

9. 发明授权

US07046198B2 Antenna and apparatus provided with the antenna 有权
标题翻译：配有天线的天线和设备
公开(公告)号：US07046198B2
公开(公告)日：2006-05-16
申请号：US10497576
申请日：2002-12-02
申请人： Kazuyuki Sakiyama , Yasunao Okazaki , Michio Okajima
发明人： Kazuyuki Sakiyama , Yasunao Okazaki , Michio Okajima
IPC分类号： H01Q1/24
CPC分类号： H01Q15/002 , H01Q1/36 , H01Q1/38 , H01Q3/01 , H01Q3/247 , H01Q9/0442 , H01Q9/0457
摘要： The present invention provides an antenna in which, on a dielectric substrate 1 having a back face on which a grounding conductor plate 14 is disposed, a plurality of conductor elements 12 are arranged in a matrix of rows and columns. Each of the dielectric elements 12 has a size which cannot function as an antenna. Above the conductor elements 12, a connecting element 13 overlapping two adjacent conductor elements 12 is disposed. Among the connecting elements 13, some cause the conductor elements 12 on both sides to be in a conductive condition, and others cause the conductor elements 12 on both sides to be in a non-conductive condition. The switching between the conductive and non-conductive conditions between the conductor elements 12 can be dynamically performed by a switching element.
摘要翻译：本发明提供一种天线，在具有背面的电介质基板1上设置有接地导体板14的天线中，多个导体元件12以行和列为矩阵排列。每个介质元件12具有不能用作天线的尺寸。在导体元件12的上方设有与两个相邻导体元件12重叠的连接元件13。在连接元件13中，一些导致两侧的导体元件12处于导电状态，而另外导致两侧的导体元件12处于非导通状态。可以通过开关元件动态地执行导体元件12之间的导电和非导电状态之间的切换。

10. 发明申请

US20050012675A1 Antenna and apparatus comprising this antenna 有权
标题翻译：包括该天线的天线和装置
公开(公告)号：US20050012675A1
公开(公告)日：2005-01-20
申请号：US10497576
申请日：2002-12-02
申请人： Kazuyuki Sakiyama , Yasunao Okazaki , Michio Okajima
发明人： Kazuyuki Sakiyama , Yasunao Okazaki , Michio Okajima
IPC分类号： H01Q1/36 , H01Q1/38 , H01Q3/01 , H01Q3/24 , H01Q9/04 , H01Q15/00 , H01Q21/08
CPC分类号： H01Q15/002 , H01Q1/36 , H01Q1/38 , H01Q3/01 , H01Q3/247 , H01Q9/0442 , H01Q9/0457
摘要： The present invention provides an antenna in which, on a dielectric substrate 1 having a back face on which a grounding conductor plate 14 is disposed, a plurality of conductor elements 12 are arranged in a matrix of rows and columns. Each of the dielectric elements 12 has a size which cannot function as an antenna. Above the conductor elements 12, a connecting element 13 overlapping two adjacent conductor elements 12 is disposed. Among the connecting elements 13, some cause the conductor elements 12 on both sides to be in a conductive condition, and others cause the conductor elements 12 on both sides to be in a non-conductive condition. The switching between the conductive and non-conductive conditions between the conductor elements 12 can be dynamically performed by a switching element.
摘要翻译：本发明提供一种天线，在具有背面的电介质基板1上设置有接地导体板14的天线中，多个导体元件12以行和列为矩阵排列。每个介质元件12具有不能用作天线的尺寸。在导体元件12的上方设有与两个相邻导体元件12重叠的连接元件13。在连接元件13中，一些导致两侧的导体元件12处于导电状态，而另外导致两侧的导体元件12处于非导通状态。可以通过开关元件动态地执行导体元件12之间的导电和非导电状态之间的切换。

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