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1. 发明专利

JP2009083099A Legged mobile robot 有权
标题翻译： LEGGED移动机器人
公开(公告)号：JP2009083099A
公开(公告)日：2009-04-23
申请号：JP2009007603
申请日：2009-01-16
申请人： Sony Corp , Jinichi Yamaguchi , ソニー株式会社 , 仁一山口
发明人： IGARASHI TAKESHI , YAMAGUCHI JINICHI , ENDO GEN , YAMAGISHI KEN , MORI NAOTO
IPC分类号： B25J5/00 , A63H11/00 , A63H11/18
摘要： PROBLEM TO BE SOLVED: To optimize mass distribution for every portion of a machine from viewpoints such as attitude stabilizing control and keeping basic attitude.
SOLUTION: As the mass distribution at leg parts, the center of gravity between a hip joint pitch shaft 12 and a knee pitch shaft 14 is set on a flat surface composed of the hip joint pitch shaft and gravity acceleration vector between a basic standing attitude and an lifting-by-arms attitude (standing state). This can realize stable transition of the attitude through the basic standing attitude and a lifting-by-arms state in a standing state.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：从姿态稳定控制和保持基本姿态等观点来优化机器的每个部分的质量分布。解决方案：作为腿部的质量分布，将髋关节间距轴12和膝部间距轴14之间的重心设置在由髋关节节距轴构成的平坦面和基本上的重力加速度矢量之间立场态度和举重态度（立场）。这样可以通过基本的立场态度和处于稳定状态的逐个状态来实现态度的稳定转型。版权所有（C）2009，JPO＆INPIT

2. 发明专利

JP2004167663A Leg type moving robot and foot mechanism of leg type moving robot 有权
标题翻译： LEG型移动机器人和机器人机构类型移动机器人
公开(公告)号：JP2004167663A
公开(公告)日：2004-06-17
申请号：JP2002339777
申请日：2002-11-22
申请人： Sony Corp , Jinichi Yamaguchi , ソニー株式会社 , 仁一山口
发明人： KATO KEISUKE , IGARASHI TAKESHI , NAGANO MASAKUNI , NAGASAKA KENICHIRO , MORIKAWA HIROAKI , YAMAGUCHI JINICHI
IPC分类号： A63H11/00 , B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a leg type moving robot which suppresses the change of an effective surface for drag generation accompanied by the change of a foot shape due to ZMP movement. SOLUTION: A main body 21 attached with an ankle connection part 41 to be connected with an ankle is bonded with a bottom soft part 22 by, for example, adhesion. The main body 21 is not deformed by torque generated in a lower limb and a reactive force from a transfer surface 19 and has hardness to secure support moment. The soft part 22 has both the function of the bottom soft part 22 and the function of a contact part of the transfer surface 19. Ground contact distribution relative to the transfer surface 19 is adjusted by the suitable selection of the shape of the main body 21. The outer edge of the foot soft part 22 to contact with the transfer surface 19 is formed with R and unnecessary hooking to the transfer surface 19 is prevented. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种腿型移动机器人，其抑制由于ZMP运动而伴随着脚形变化的用于产生阻力的有效表面的变化。解决方案：附接有与踝关节连接的脚踝连接部41的主体21通过例如粘合与底部软部22接合。主体21不会由下肢产生的扭矩和来自转印面19的反作用力而变形，而且具有确保支撑力矩的硬度。软部件22具有底部软部件22的功能和转印表面19的接触部分的功能。通过适当选择主体21的形状来调节相对于转印表面19的接触分布与柔软转印面19接触的脚软部22的外缘形成有R，防止了与转印面19的不必要的钩接。版权所有（C）2004，JPO

3. 发明专利

JP2005297079A Robot device and joint device of robot 审中-公开
标题翻译：机器人装置和机器人的联合装置
公开(公告)号：JP2005297079A
公开(公告)日：2005-10-27
申请号：JP2004112596
申请日：2004-04-06
申请人： Sony Corp , ソニー株式会社
发明人： OKAZAKI MASANORI , KISHIDA TAKEO , IGARASHI TAKESHI , YAMAGISHI KEN
IPC分类号： B25J17/00 , B25J5/00
摘要： PROBLEM TO BE SOLVED: To reduce the size and weight, by providing sufficient torsional strength, without increasing the thickness of a frame of a robot, an actuator and a casing of a speed reducer.
SOLUTION: A joint part frame of a robot body and the casing of the speed reducer are integrally constituted, and are used in common as a part. Clearance is minimized, and the size and weight are reduced, and high rigidity is realized. For example, when using a planetary gear mechanism as the speed reducer, for example, an internal teeth sleeve on an aluminum pipe is pressed in the joint part frame on the magnesium alloy robot body side. For example, an internal teeth gear is formed by broach work, and the joint part frame of the robot and a speed reduction mechanism can be integrated.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：通过提供足够的扭转强度来减小尺寸和重量，而不增加机器人的框架，减速器的致动器和壳体的厚度。解决方案：机器人主体的联接部分框架和减速器的壳体是一体构成的，并且作为一部分共同使用。间隙最小化，尺寸和重量减小，实现高刚性。例如，当使用行星齿轮机构作为减速器时，例如，铝合金管上的内齿套筒被压在镁合金机器人体侧的接合部件框架中。例如，通过拉刀加工形成内齿轮，并且可以将机器人的接合部框架和减速机构整合。版权所有（C）2006，JPO＆NCIPI

4. 发明专利

JP2004286205A Torque limiter device, component holding device, articulating device and robot device 审中-公开
公开(公告)号：JP2004286205A
公开(公告)日：2004-10-14
申请号：JP2003122884
申请日：2003-03-23
申请人： Sony Corp , ソニー株式会社
发明人： YAMAGISHI KEN , MORI NAOTO , IGARASHI TAKESHI , HATTORI YUICHI , HIRONO YU , KOIKE TAKASHI , KAWANAMI YASUNORI
IPC分类号： B25J5/00 , B25J19/06 , F16D7/02 , F16H35/10
摘要： PROBLEM TO BE SOLVED: To provide firstly a simple and small torque limiter device, secondly a component holding device for effectively and surely preventing the breakage of a component, and thirdly an articulating device and a robot device for improving safety.
SOLUTION: The torque limiter device comprises a gear rotatably arranged on a first link and a gripping means arranged on a second link for gripping a polygonal protruded portion formed on one face of the gear with predetermined gripping force. The component holding device comprises an energizing means for energizing a component to be pressed against a second member out of first and second members arranged with a component holding means therebetween. The articulating device comprises a shutter mechanism provided inside a cover to cover a gap of the cover produced with the displacement of the first or second link. The robot device comprises a contact detecting means arranged in an area held between the first and second links.
COPYRIGHT: (C)2005,JPO&NCIPI

5. 发明专利

JP2004299045A Robot device 有权
公开(公告)号：JP2004299045A
公开(公告)日：2004-10-28
申请号：JP2004060475
申请日：2004-03-04
申请人： Alps Electric Co Ltd , Sony Corp , アルプス電気株式会社 , ソニー株式会社
发明人： KOIKE TAKASHI , TOSAKA SUSUMU , IGARASHI TAKESHI , MAEDA RYOICHI , MIURA AKITO
IPC分类号： G01L1/26 , B25J5/00 , B25J19/02
摘要： PROBLEM TO BE SOLVED: To provide a load sensor with simple structure, in which weight reduction and miniaturization are easy, for precisely detecting a load without breaking even when a strong load is applied, and a robot device having the load sensor in a leg-mobile type leg part.
SOLUTION: The robot device is located on the position in contact with a ground surface of the leg part, and has one or more load sensors for detecting a reaction force generated when the leg part comes into contact with the ground surface, as an external force. The load sensor 10 has a diaphragm 11 having a pressure sensing part 11a, an operating body 14 to which the external force is applied, a driving body 17 forming a double structure with the operating body 14 and pressing the pressure sensing part 11a, and a elastic body 15 for transmitting the external force to the driving body 17 by displacing the elastic body 15 almost in proportion to the external force applied to the operating body 14. The operating body 14 has a stopper function for controlling the external force so as to abut on a thick part 11b of the diaphragm 11 and so that a pressing force of the driving body 17 is set to a value smaller than a prescribed threshold when the external force is applied to the operating body 14.
COPYRIGHT: (C)2005,JPO&NCIPI

6. 发明专利

JP2014236278A 情報処理装置、情報処理方法、及びプログラム审中-公开
标题翻译：信息处理设备，信息处理方法和程序
公开(公告)号：JP2014236278A
公开(公告)日：2014-12-15
申请号：JP2013115176
申请日：2013-05-31
申请人：ソニー株式会社 , Sony Corp
发明人： IGARASHI TAKESHI , KAMON HIDEKAZU , MIYAGI MASASHI , TSUJI MINORU , SAKAI KAZUKI
IPC分类号： H03G9/00
摘要：【課題】1つの指示値に基づいて複数の補正部を制御することができる技術が求められていた。【解決手段】本開示によれば、音声信号を出力する機能を有する情報処理装置において、音声信号に対する補正を行う複数の補正部と、1つの指示値に基づいて、複数の補正部を制御する制御部と、を備える、情報処理装置が提供される。ここで、指示値は例えばボリューム設定値であり、複数の補正部は、例えば音圧補正部、帯域補正部、及び強調補正部が含まれていてもよい。制御部は、ボリューム設定値に応じてこれらの補正部による補正のうち、少なくとも1つの補正部による補正を有効とし、他の補正部による補正を無効としてもよい。【選択図】図1
摘要翻译：要解决的问题：为了解决需要基于单个指令值来控制多个校正部分的技术的问题。解决方案：本公开提供一种具有输出功能的信息处理装置包括用于校正音频信号的多个校正部分的音频信号，以及用于基于单个指令值来控制多个校正部分的控制部分。具体地，指示值例如是音量设定值，并且多个校正部可以包括例如声压校正部，频带校正部和增强校正部。关于校正部分的校正，控制部分可以通过至少一个校正部分来校正校正，并且根据音量设定值使其他校正部分的校正无效。

7. 发明专利

JP2004279080A Load sensor 有权
公开(公告)号：JP2004279080A
公开(公告)日：2004-10-07
申请号：JP2003067769
申请日：2003-03-13
申请人： Alps Electric Co Ltd , Sony Corp , アルプス電気株式会社 , ソニー株式会社
发明人： MIURA AKITO , MAEDA RYOICHI , TOSAKA SUSUMU , IGARASHI TAKESHI , KOIKE TAKASHI
IPC分类号： G01L1/22 , G01L1/26
摘要： PROBLEM TO BE SOLVED: To provide a load sensor that can precisely detect loads and cannot be damaged easily by excessive loads and shock loads.
SOLUTION: In the load sensor having a diaphragm 4 nearly in a disk shape, where a thin pressure-sensitive section 4a is formed at the center, and placing a drive body 2 pressed by an operation body 1 for applying loads at the pressure-sensitive section 4a, an elastic body 3 for interlocking the drive body 2 with the operation body 1 is provided, the operation body 1 presses the drive body 2 to the diaphragm 4 via the elastic body 3 and comes into contact with the diaphragm 4 with a specific load, the operation body 1 has a contacting surface 1a for coming into contact with a thick section 4b at the outer periphery of the pressure-sensitive section 4a of the diaphragm 4, and a small gap smaller than a limited amount of displacement, where the elastic body 3 is displaced linearly to the load is provided between the contacting surface 1a and the thick section 4b.
COPYRIGHT: (C)2005,JPO&NCIPI

8. 发明专利

JP2003200377A ROBOT AND METHOD FOR MEASURING DISTANCE BY ROBOT 审中-公开
公开(公告)号：JP2003200377A
公开(公告)日：2003-07-15
申请号：JP2001395279
申请日：2001-12-26
申请人： SONY CORP
发明人： ENDO GEN , IGARASHI TAKESHI , OHASHI TAKESHI
IPC分类号： G01B11/00 , B25J5/00 , B25J19/04 , G01C3/06
摘要： PROBLEM TO BE SOLVED: To provide a robot capable of highly accurately measuring the distance from the object of measurement, which is nearly parallel with the line between visual axes. SOLUTION: The robot carrying imaging devices at its head section is provided with a neck section connected to a body section, the right imaging device and the left imaging device for imaging the outside world, an imaging device base table on which both of the imaging devices are installed, an inclination device for inclining the imaging devices to the neck section, and an image processing section for processing the image information obtained from both imaging devices and calculating the distance from the object of the measurement to both of the imaging devices. Taking the straight line comprising the centers of the imaging devices liked as a line between visual axes, if the object of the measuring is judged nearly parallel with the line between visual axes, the imaging device base table is inclined by operating the inclination device, and the image is picked up again, and the distances between the object of the measurement and the imaging devices are calculated based on the image information imaged again. COPYRIGHT: (C)2003,JPO

9. 发明专利

JP2003200366A ROBOT 审中-公开
公开(公告)号：JP2003200366A
公开(公告)日：2003-07-15
申请号：JP2001395265
申请日：2001-12-26
申请人： SONY CORP
发明人： IGARASHI TAKESHI , ENDO GEN
IPC分类号： A63H11/00 , A63H11/18 , B25J5/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a robot that is full of expression and can image a wide range with an image pickup device mounted on a head part by increasing the flexibility of a neck part. SOLUTION: The robot has the neck part for pivotally coupling the head part to a body part. The neck part comprises a first pivot turnable on a roll axis, a second pivot turnable on a pitch axis, a third pivot turnable on a yaw axis, and a fourth pivot turnable on the pitch axis. The head part may be equipped with an image pickup device for imaging the external world. In the structure, the joint of the neck part can have four degrees of freedom to improve the expression of the robot. The image pickup device can suitably image the step without limits to the angle of vision. COPYRIGHT: (C)2003,JPO

10. 发明专利

JP2003266364A ROBOT DEVICE 审中-公开
公开(公告)号：JP2003266364A
公开(公告)日：2003-09-24
申请号：JP2002075149
申请日：2002-03-18
申请人： SONY CORP
发明人： FUKUCHI MASAKI , IGARASHI TAKESHI , NAGATSUKA MASAKI
IPC分类号： G03B15/00 , B25J5/00 , B25J19/04 , G03B17/56 , H04N5/225
摘要： PROBLEM TO BE SOLVED: To carry out interaction with a human smoothly. SOLUTION: A recessed part is formed with a light transmission member 232 as an inner wall at a position of the eye of a robot device 1. A lens 233 and a CCD camera 203 are provided on a bottom face of the recessed part, and the CCD camera 203 converts an image formed on the lens 233 into an electrical signal. The recessed part is for restricting a range where the lens 233 can be seen from outside, and a depth of the recessed part is made so that the range where the lens 233 can be seen from outside coincides with a field of vision of the lens 233. COPYRIGHT: (C)2003,JPO

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