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1. 发明专利

JP2003326478A Robot with offset rotating articulate 有权
标题翻译：机器人与偏心旋转
公开(公告)号：JP2003326478A
公开(公告)日：2003-11-18
申请号：JP2002130440
申请日：2002-05-02
申请人： National Aerospace Laboratory Of Japan , 独立行政法人航空宇宙技術研究所
发明人： OKAMOTO OSAMU , NAKATANI TERUOMI , SUZUKI SEIZO , YAMAGUCHI ISAO , KAMIMURA HEIHACHIRO , MATSUMOTO KOTARO , WAKABAYASHI SACHIKO , SASA SHUICHI
IPC分类号： B25J5/00 , B25J9/06 , B25J13/08 , B25J17/02 , B62D57/028 , B64G1/16 , B64G1/62
CPC分类号： B62D57/028 , B25J9/06 , B25J17/025 , B64G1/16 , B64G1/62
摘要： PROBLEM TO BE SOLVED: To provide a robot having various types of functions requested for satellite landing ships and ultimate operation robots, particularly, a leg mechanism of the robot allowing to self-rise after falling down and facilitating the departure off and landing on a irregular terrain, and having a walking function and a hand function for three-dimensional operation. SOLUTION: To allow a robot body to perform the three-dimensional motions such as a rising operation and walking motion, this robot having an offset rotating articulate comprises the robot body and at least three or more legs fitted to the body. Each leg comprises a multiarticular arm formed by continuously connecting the offset rotating articulates to each other. A ground contact member is fitted to the tip part of the leg. The legs can be drivingly controlled three-dimensionally independently of each other. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种具有用于卫星着陆船和最终操作机器人所需的各种功能的机器人，特别是机器人的腿部机构允许在下落之后自升，并且便于离开和着陆在不规则的地形上，具有行走功能和手动功能，用于三维操作。解决方案：为了允许机器人身体执行诸如上升操作和步行运动的三维运动，具有偏移旋转铰接的机器人包括机器人主体和装配到身体的至少三个或更多个腿。每个腿包括通过将偏移的旋转铰接件彼此连续地连接而形成的多关节臂。地脚接触构件安装在腿的末端部分。腿可以彼此独立地三维驾驶控制。版权所有（C）2004，JPO

2. 发明专利

JP2003281499A Method for detecting flat land from shadow image 有权
标题翻译：从阴影图像中检测平坦土地的方法
公开(公告)号：JP2003281499A
公开(公告)日：2003-10-03
申请号：JP2002076802
申请日：2002-03-19
申请人： National Aerospace Laboratory Of Japan , 独立行政法人航空宇宙技術研究所
发明人： GOMI HIROMI , SASA SHUICHI , YAMAGUCHI ISAO , YAMAMOTO HIROMICHI , NINOMIYA TETSUJIRO , HAMADA YOSHIRO
IPC分类号： G01C11/06 , B64G1/66 , G01B11/24 , G06T1/00 , G06T7/40 , G06T7/60
CPC分类号： G06K9/0063
摘要： PROBLEM TO BE SOLVED: To provide a method for detecting a flat land from a shadow image for detecting a flat land on the surface of a subject in real time by applying a shape restoration algorithm for seeking the shape of the surface of the subject based on brightness and darkness. SOLUTION: The average of the brightness of the image obtained by photographing (S1) the surface covered with regolith with small feature in term of a picture from a high altitude is calculated (S2), thereby the reflectance ratio of the horizontal surface of the surface of the subject is obtained. An algorithm of 'shape restoration from shadow' linearized with this reflectance ratio as reference, so-called Pentland method' is quoted (S6) to an image which is photographed (S4) from a low altitude and whose brightness and darkness is adjusted (S5) to remove influence of inclination in a fixed direction of the whole on the restored surface to detect the flat land on the surface of the subject. This method for detecting the flat land can be used for selecting the landing scheduled spot of a landing machine. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种用于通过应用形状恢复算法来从用于检测被摄体表面上的平坦地面的阴影图像中实时检测平坦地面的方法，所述形状恢复算法用于寻找主体基于亮度和黑暗。
解决方案：计算通过拍摄（S1）从高空拍摄具有小特征的表面覆盖的表面（S1）获得的图像的亮度的平均值（S2），由此水平面的反射率获得受试者的表面。引用了从“低角度”拍摄的图像（S4），其亮度和黑度被调整（S5）的“从阴影的形状恢复的线性化”的算法，将所谓的Pentland方法引用（S6））以去除整个固定方向上的倾斜对恢复的表面的影响，以检测被检体的表面上的平坦的区域。这种用于检测平坦地面的方法可以用于选择着陆机的着陆预定点。版权所有（C）2004，JPO

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