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91. 发明授权

US07093497B2 Legged mobile robot and floor reaction force detection system thereof 失效
标题翻译：腿式移动机器人及其地板反作用力检测系统
公开(公告)号：US07093497B2
公开(公告)日：2006-08-22
申请号：US10500129
申请日：2002-12-19
申请人： Toru Takenaka , Hiroshi Gomi , Satoshi Shigemi , Takashi Matsumoto
发明人： Toru Takenaka , Hiroshi Gomi , Satoshi Shigemi , Takashi Matsumoto
IPC分类号： G01B7/16
CPC分类号： B62D57/02 , B25J13/081 , B25J13/085 , B25J13/088 , B62D57/032
摘要： In a legged mobile robot (1), an elastic member (382) is installed at a position between a second joint (18, 20) connecting a distal end of a leg (2) and a foot (22) and a floor contact end of the foot, and a displacement sensor (70) is installed in a space defined by a top-to-bottom height of the elastic member. With this, it becomes possible to make the displacement sensor including its components such as the converter or the like compact enough to be housed in the elastic member at the limited space of the foot of the legged mobile robot. Further, it is arranged to self-diagnose abnormality of the displacement sensor by utilizing the redundancy of freedom, and also to detect the floor reaction force accurately such that the legged mobile robot can be controlled to walk more stably.
摘要翻译：在有腿移动式机器人（1）中，弹性构件（382）安装在连接腿部（2）的远端和脚部（22）的第二接头（18,20）与地板接触端并且位移传感器（70）安装在由弹性构件的顶部到底部高度限定的空间中。由此，能够使包括转子等的部件的位移传感器在足够的可动式机器人的脚的有限空间中足够紧凑地容纳在弹性部件中。此外，通过利用自由度的冗余来自动诊断位移传感器的异常，并且还能够准确地检测地板反作用力，使得可以将腿式移动机器人控制得更稳定地行走。

92. 发明授权

US08443920B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08443920B2
公开(公告)日：2013-05-21
申请号：US13395705
申请日：2009-09-18
申请人： Hiroshi Gomi , Toru Takenaka
发明人： Hiroshi Gomi , Toru Takenaka
IPC分类号： B62D21/00
CPC分类号： B62J1/005 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00
摘要： The present invention provides an inverted pendulum type vehicle which can perform a turning movement with ease without requiring any additional device even though the vehicle is configured to travel on a single drive wheel. A substantially vertical principal axis of inertia of the vehicle is tilted rearward with respect to a plumb vertical line. As result, when a rider shift his gravitational center in either lateral direction and tilts the vehicle in the corresponding direction, the main wheel is caused to turn around the principal axis of inertia so that the main wheel is steering in effect, and the vehicle can be turned in a desired direction.
摘要翻译：本发明提供了一种倒立摆式车辆，即使车辆构造成在单个驱动轮上行进，该车辆也可以容易地执行转动运动，而不需要任何附加装置。车辆的基本上垂直的主要惯性轴相对于垂直垂直线向后倾斜。结果，当乘客在横向方向上移动他的重力中心并使车辆沿相应的方向倾斜时，使主轮绕主要惯性轴转动，使得主轮有效转向，车辆可以沿所需方向转动。

93. 发明授权

US07409265B2 Leg-type moving robot and floor reaction force detection device thereof 有权
标题翻译：腿型移动机器人及其地板反作用力检测装置
公开(公告)号：US07409265B2
公开(公告)日：2008-08-05
申请号：US10500117
申请日：2002-12-19
申请人： Toru Takenaka , Hiroshi Gomi , Satoshi Shigemi , Takashi Matsumoto
发明人： Toru Takenaka , Hiroshi Gomi , Satoshi Shigemi , Takashi Matsumoto
IPC分类号： G06F19/00
CPC分类号： B25J13/085 , B25J19/0091 , B62D57/02 , B62D57/032
摘要： It is arranged such that displacement sensors (70) are installed at a position in or vicinity of elastic members (382), to generate outputs indicating a displacement of the floor contact end of a foot (22) relative to a second joint (18, 20), and a floor reaction force acting on the foot is calculated based on the outputs of the displacement sensors by using a model describing a relationship between the displacement and stress generated in the elastic members in response to the displacement, thereby enabling to achieve accurate calculation of the floor reaction force and more stable walking of a legged mobile robot (1). Further, a dual sensory system is constituted by combining different types of detectors, thereby enabling to enhance the detection accuracy. Furthermore, since it self-diagnoses whether abnormality or degradation occurs in the displacement sensors etc. and performs temperature compensation without using a temperature sensor, the detection accuracy can be further enhanced.
摘要翻译：布置成使得位移传感器（70）安装在弹性构件（382）附近的位置处，以产生指示脚（22）的地板接触端相对于第二接头（18）的位移的输出， 20），并且通过使用描述弹性构件中产生的位移和应力之间的关系的模型，基于位移传感器的输出来计算作用在脚上的地板反作用力，从而能够实现准确计算地板反作用力和更稳定的步行式移动机器人（1）。此外，通过组合不同类型的检测器来构成双重感觉系统，从而能够提高检测精度。此外，由于能够自动诊断位移传感器等是否发生异常或劣化，而是不使用温度传感器进行温度补偿，因此能够进一步提高检测精度。

94. 发明申请

US20070193789A1 Legged mobile robot and control system thereof 失效
标题翻译：有腿的移动机器人及其控制系统
公开(公告)号：US20070193789A1
公开(公告)日：2007-08-23
申请号：US10593493
申请日：2005-02-18
申请人： Toru Takenaka , Hiroshi Gomi , Susumu Miyazaki , Kazushi Hamaya
发明人： Toru Takenaka , Hiroshi Gomi , Susumu Miyazaki , Kazushi Hamaya
IPC分类号： B62D51/06
CPC分类号： B25J19/0091
摘要： The legged mobile robot the foot comprises a foot main body connected to each leg, a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, and a bending angle holder capable of holding a bending angle of the toe in a bendable range of the toe. In addition, a legged mobile robot control system is configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the bending angle at a second time point after the leg has lifted off the floor to restore the toe to a initial position. With this, the bending angle at the time of liftoff can continue to be held after liftoff, whereby the robot can be prevented from becoming unstable owing to the toe contacting the floor immediately after liftoff. In addition, stability during tiptoe standing can be enhanced.
摘要翻译：腿式移动机器人脚包括连接到每个腿的脚本体，设置在脚主体的前端以相对于脚本体可弯曲的脚趾以及能够保持弯曲角度的弯曲角保持器的脚趾在脚趾的可弯曲范围内。此外，有腿的移动机器人控制系统被配置为在脚踏板的起始时间的第一时间点保持脚趾的弯曲角度，该第一时间点是从地板或更早的腿部起飞时间，并且在第二时间点释放弯曲角度腿后抬起地板将脚趾恢复到初始位置。由此，脱扣后的弯曲角度可以继续保持，由此能够防止机器人由于在起飞后立即接触地板而变得不稳定。此外，可以提高脚尖站立时的稳定性。

95. 发明授权

US08315758B2 Road surface frictional coefficient estimating apparatus 有权
标题翻译：路面摩擦系数估计装置
公开(公告)号：US08315758B2
公开(公告)日：2012-11-20
申请号：US12704085
申请日：2010-02-11
申请人： Toru Takenaka , Hiroyuki Urabe , Osamu Yano , Yoshihiro Mori , Tomoya Ushimura
发明人： Toru Takenaka , Hiroyuki Urabe , Osamu Yano , Yoshihiro Mori , Tomoya Ushimura
IPC分类号： G01M17/00
CPC分类号： B60T8/172 , B60T2210/12 , B60T2270/86 , B60W40/068 , B62D6/006 , Y10T152/10792
摘要： A road surface frictional coefficient estimating apparatus has a device for determining a first estimated value of a yaw moment Mnsp_estm generated at an NSP of a vehicle due to the resultant force of road surface reaction forces acting on each wheel by using, for example, a frictional coefficient estimated value that has been determined, and a device for determining a second estimated value of a yaw moment Mnsp_sens generated at the NSP from the observed value of motional state amounts defining an inertial force moment at the NSP. The increasing/decreasing manipulated variable of the frictional coefficient estimated value is sequentially determined on an error (Mnsp_sens−Mnsp_estm) such that the error is converged to zero, and the road surface frictional coefficient is updated on the basis of the increasing/decreasing manipulated variable.
摘要翻译：路面摩擦系数估计装置具有用于确定在车辆的NSP处产生的横摆力矩Mnsp_estm的第一估计值的装置，这是由于作用在每个车轮上的路面反作用力的合力，例如通过摩擦已经确定的系数估计值，以及用于根据在NSP处限定惯性力矩的运动状态量的观测值来确定在NSP处产生的偏航力矩Mnsp_sens的第二估计值的装置。根据误差（Mnsp_sens-Mnsp_estm）依次确定摩擦系数估计值的增加/减少操作变量，使得误差收敛到零，并且基于增加/减少的操作变量来更新路面摩擦系数。

96. 发明授权

US08267213B2 Omnidirectional vehicle 有权
标题翻译：全方位车
公开(公告)号：US08267213B2
公开(公告)日：2012-09-18
申请号：US12882688
申请日：2010-09-15
申请人： Toru Takenaka
发明人： Toru Takenaka
IPC分类号： B62M13/00
CPC分类号： B62K1/00 , B62K11/007
摘要： An inverted pendulum type omnidirectional vehicle includes: a pair of wheels; a drive mechanism; a control apparatus; an auxiliary wheel; and a vehicle body. Each of the wheels includes: a rotation member capable of rotating about the wheel axis; a plurality of free rollers which are disposed all around an outer circumference of the rotation member, and each of which is brought into contact with a road surface at a lowest position of the rotation member and is rotatable about a rotation axis diagonal with respect to the wheel axis. The free rollers on both sides in contact with the road surface at ground contact portions each have the rotation axis extending in parallel with the road surface, and are arranged in an orientation in which a distance between the rotation axes of the free rollers is shorter toward a side of the auxiliary wheel.
摘要翻译：倒立摆型全方位车辆包括：一对车轮; 驱动机构; 控制装置; 辅助轮和车体。每个车轮包括：能够围绕车轮轴线旋转的旋转构件; 多个自由辊，其设置在所述旋转构件的外周周围，并且每个自由辊与所述旋转构件的最低位置处的路面接触，并且能够围绕相对于所述旋转构件的旋转轴对角线旋转轮轴。与地面接触部分的路面接触的两侧的自由滚轮各自具有与路面平行延伸的旋转轴线，并且配置成使自由辊的旋转轴线之间的距离朝向辅助轮的一侧。

97. 发明申请

US20120169081A1 FLUID PRESSURE TRANSMISSION DEVICE AND ROBOT HAND DEVICE 有权
标题翻译：流体压力传动装置和机器手动装置
公开(公告)号：US20120169081A1
公开(公告)日：2012-07-05
申请号：US13496119
申请日：2010-09-03
申请人： Toru Takenaka , Hironori Waita
发明人： Toru Takenaka , Hironori Waita
IPC分类号： B25J15/08 , B25J15/10 , F15B11/16
CPC分类号： B25J15/0009 , B25J9/144 , F15B7/00
摘要： A fluid pressure transmission device is equipped with a plurality of driving fluid pressure cylinders 371, 372, a plurality of driven fluid pressure cylinders 23, 24 with cylinder chambers 23a, 24a thereof being communicated with cylinder chambers 3711, 3712 of the main driving fluid pressure cylinders 371, 372 via fluid pressure transmission pipes 381, 382, and a sub driving fluid pressure cylinder 41 which is divided into two cylinder chambers 41a, 41b by a piston 412, and the fluid pressure generated by the main driving fluid pressure cylinders 371, 372 is transmitted to the driven fluid pressure cylinders 23, 24. Pistons 3711, 3712 are driven by the main motor 40, and the piston 412 is driven by the assistant motor 43. The fluid pressure transmission pipes 381, 382 and the cylinder chambers 41a, 41b of the sub driving fluid pressure cylinder are connected via connecting pipes 421, 422.
摘要翻译：液压传动装置配备有多个驱动流体压力缸371,372，多个从动流体压力缸23,24，其缸室23a，24a与主驱动流体压力的气缸室3711,3712连通通过流体压力传递管381,382和通过活塞412分成两个气缸室41a，41b的副驱动流体压力缸41和由主驱动流体压力缸371产生的流体压力的气缸371,372， 372被传递到从动流体压力缸23,24.活塞3711,3712由主电动机40驱动，活塞412由辅助电动机43驱动。流体压力传递管381,382和气缸室41a ，41b的副驱动液压缸通过连接管421,422连接。

98. 发明申请

US20120016646A1 DEVICE FOR ESTIMATING STATE QUANTITY OF SKID MOTION OF VEHICLE 有权
标题翻译：估计车辆滑行状态数量的装置
公开(公告)号：US20120016646A1
公开(公告)日：2012-01-19
申请号：US13258143
申请日：2010-03-26
申请人： Toru Takenaka
发明人： Toru Takenaka
IPC分类号： G06F7/60 , G06F17/10
CPC分类号： B60W40/101 , B60T8/172 , B60T8/17551 , B60T2230/02 , B60T2270/86 , B60W40/076 , B60W2050/0024 , B60W2050/0025 , B60W2050/0031 , B60W2050/0054 , B60W2520/10 , B60W2520/125 , B60W2520/14 , B60W2520/28 , B60W2520/30 , B60W2720/125
摘要： A device for estimating the state quantity of a skid motion of a vehicle is provided with an element which finds road surface reaction force model values of respective wheels and a skid motion state quantity model value using a vehicle model including a friction characteristic model between the wheels and the road surface, an element which finds the deviation between the lateral acceleration model value generated in a predetermined position of the vehicle by the resultant force of the road surface reaction force model values and the lateral acceleration detected value indicated by the output of an actual lateral acceleration detecting means, and an element which determines, as the estimated value of the skid motion state quantity, a value obtained by adding a value obtained by passing the deviation through a filter having a high-cut characteristic to the skid motion state quantity model value.
摘要翻译：用于估计车辆的滑动运动的状态量的装置设置有使用车辆模型来确定各车轮的路面反作用力模型值和滑行运动状态量模型值的元件，该车辆模型包括车轮之间的摩擦特性模型路面，是通过路面反作用力模型值的合力求出在车辆的预定位置产生的横向加速度模型值与由实际的路面反力力模型值的输出所表示的横向加速度检测值之间的偏差的要素横向加速度检测装置和将滑移运动状态量的估计值确定为通过将具有高切割特性的过滤器的偏差传递给滑动运动状态量模型而获得的值而获得的值的元素值。

99. 发明申请

US20110022232A1 CONTROL DEVICE FOR MOBILE BODY 有权
标题翻译：移动体控制装置
公开(公告)号：US20110022232A1
公开(公告)日：2011-01-27
申请号：US12841603
申请日：2010-07-22
申请人： Takahide Yoshiike , Toru Takenaka , Takashi Matsumoto
发明人： Takahide Yoshiike , Toru Takenaka , Takashi Matsumoto
IPC分类号： G05B15/00
CPC分类号： B62D57/032
摘要： A control device for a mobile body makes it possible to smoothly correct the deviation of an actual posture of a base body of a mobile body, which travels with the base body thereof moving up and down, from a desired posture of the base body while restraining an overshoot or an undershoot from occurring. To determine a required manipulated variable according to a feedback control law in order to converge a state amount deviation related to the posture of the base body of the mobile body to zero, the feedback gain of the feedback control law is determined by using the time series in a period from current time to predetermined time in the future in the time series of a desired inertial force of the mobile body or the base body. The required manipulated variable is determined by the calculation of the feedback control law on the basis of the determined feedback gain and an observed value of the state amount deviation.
摘要翻译：用于移动体的控制装置使得可以平滑地校正移动体的基体的实际姿态与基体的所需姿势同时上下移动的基体的偏离，同时抑制发生过冲或下冲。为了将与移动体的基体的状态相关的状态量偏差收敛到零，根据反馈控制律确定所需的操作变量，反馈控制律的反馈增益通过使用时间序列在从移动体或基体的期望的惯性力的时间序列中的从现在到现在的时间到预定时间的期间。所需的操纵变量通过基于确定的反馈增益和状态量偏差的观测值的反馈控制律的计算来确定。

100. 发明申请

US20100211256A1 ROAD SURFACE FRICTIONAL COEFFICIENT ESTIMATING APPARATUS 有权
标题翻译：道路表面摩擦系数估计装置
公开(公告)号：US20100211256A1
公开(公告)日：2010-08-19
申请号：US12704085
申请日：2010-02-11
申请人： Toru Takenaka , Hiroyuki Urabe , Osamu Yano , Yoshihiro Mori , Tomoya Ushimura
发明人： Toru Takenaka , Hiroyuki Urabe , Osamu Yano , Yoshihiro Mori , Tomoya Ushimura
IPC分类号： G06F7/00
CPC分类号： B60T8/172 , B60T2210/12 , B60T2270/86 , B60W40/068 , B62D6/006 , Y10T152/10792
摘要： A road surface frictional coefficient estimating apparatus has a device for determining a first estimated value of a yaw moment Mnsp_estm generated at an NSP of a vehicle due to the resultant force of road surface reaction forces acting on each wheel by using, for example, a frictional coefficient estimated value that has been determined, and a device for determining a second estimated value of a yaw moment Mnsp_sens generated at the NSP from the observed value of motional state amounts defining an inertial force moment at the NSP. The increasing/decreasing manipulated variable of the frictional coefficient estimated value is sequentially determined on an error (Mnsp_sens−Mnsp_estm) such that the error is converged to zero, and the road surface frictional coefficient is updated on the basis of the increasing/decreasing manipulated variable.
摘要翻译：路面摩擦系数估计装置具有用于确定在车辆的NSP处产生的横摆力矩Mnsp_estm的第一估计值的装置，这是由于作用在每个车轮上的路面反作用力的合力，例如通过摩擦已经确定的系数估计值，以及用于根据在NSP处限定惯性力矩的运动状态量的观测值来确定在NSP处产生的偏航力矩Mnsp_sens的第二估计值的装置。根据误差（Mnsp_sens-Mnsp_estm）依次确定摩擦系数估计值的增加/减少操作变量，使得误差收敛到零，并且基于增加/减少的操作变量来更新路面摩擦系数。

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