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101. 发明申请

US20120173088A1 CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆的控制装置
公开(公告)号：US20120173088A1
公开(公告)日：2012-07-05
申请号：US13394898
申请日：2009-09-18
申请人： Shinichiro Kobashi , Kazushi Akimoto , Hideo Murakami , Toru Takenaka , Hiroshi Gomi
发明人： Shinichiro Kobashi , Kazushi Akimoto , Hideo Murakami , Toru Takenaka , Hiroshi Gomi
IPC分类号： G05D1/08
CPC分类号： B62K1/00 , B60B3/048 , B60B19/003 , B60Y2200/12 , B62K11/007 , B62K2207/04
摘要： Provided is a controller for an inverted pendulum type vehicle capable of moving the vehicle smoothly. The inverted pendulum type vehicle 1 is provided with a grip 18 at a upper end portion of a base body 9. A grip-acting external force F acting on the grip 18 is detected by a force sensor 55. According to the detected grip-acting external force F, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and on the basis thereof, a traveling motion unit controller determines a manipulated variable for control.
摘要翻译：本发明提供一种能够平稳地移动车辆的倒立摆式车辆的控制装置。倒立摆式车辆1在基体9的上端部设置有把手18.通过力传感器55检测作用在把手18上的抓握力外力F.根据检测到的抓握力外力F，所需的重心速度发生器74确定所需的重心速度Vb_x_aim和Vb_y_aim，并且基于此，行驶运动单元控制器确定用于控制的操纵变量。

102. 发明申请

US20120173043A1 CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆的控制装置
公开(公告)号：US20120173043A1
公开(公告)日：2012-07-05
申请号：US13395503
申请日：2009-09-23
申请人： Shinichiro Kobashi , Kazushi Akimoto , Toru Takenaka
发明人： Shinichiro Kobashi , Kazushi Akimoto , Toru Takenaka
IPC分类号： G06F7/00
CPC分类号： B62K1/00 , B62J25/00 , B62K11/007 , B62K21/12 , B62M23/00
摘要： To provide a control device of an inverted pendulum type vehicle capable of making an occupant perform boarding action or dismounting action easily. A traveling motion unit controlling element 50 of an inverted pendulum type vehicle 1 controls a traveling motion of a traveling motion unit 5 so that, in a mode for transition period at the time when the occupant intends to board or dismount from vehicle, a sensitivity of change of a traveling velocity or a sensitivity of change of a traveling acceleration of the traveling motion unit 5 with respect to a change in the actual tilt angle of a payload supporting part 3 (at least a tilt angle about an axis in one direction), at least in a part of the period, to be smaller than that in the during-boarding mode when the occupant is aboard.
摘要翻译：提供能够使乘客进行登机动作或拆卸动作的倒立摆式车辆的控制装置。倒立摆式车辆1的行驶运动单元控制元件50控制行驶运动单元5的行驶运动，使得在乘员想要从车辆上下车的过渡期间的模式中，灵敏度相对于有效载荷支撑部3的实际倾斜角度的变化（至少在一个方向上的轴的倾斜角度），行驶运动单元5的行驶速度的变化或行驶加速度的变化的灵敏度的变化，至少在一段时间内，当乘客乘坐时，要小于在登机模式。

103. 发明申请

US20120173041A1 CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆的控制装置
公开(公告)号：US20120173041A1
公开(公告)日：2012-07-05
申请号：US13394632
申请日：2009-09-18
申请人： Toru Takenaka , Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami , Yuichi Uebayashi
发明人： Toru Takenaka , Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami , Yuichi Uebayashi
IPC分类号： G06F17/00
CPC分类号： B62J1/005 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , B62K2207/02 , B62K2207/04 , B62M23/00
摘要： Provided is a control device of an inverted pendulum type vehicle capable of moving the vehicle toward a desired direction easily. In the inverted pendulum type vehicle 1, one end of a cord member C is connected to a seat 3 via an engagement member 4. A tension of the cord member C is detected by a triaxial force sensor. According to the detected tension of the cord member C, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and a manipulated variable for control is determined according thereto.
摘要翻译：提供了能够容易地将车辆朝向期望方向移动的倒立摆式车辆的控制装置。在倒立摆式车辆1中，帘线构件C的一端通过接合构件4与座椅3连接。用三轴力传感器检测帘线构件C的张力。根据检测到的帘线构件C的张力，所需的重心速度发生器74确定所需的重心速度Vb_x_aim和Vb_y_aim，根据此确定用于控制的操作变量。

104. 发明申请

US20120168235A1 INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车型
公开(公告)号：US20120168235A1
公开(公告)日：2012-07-05
申请号：US13395578
申请日：2009-09-18
申请人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
发明人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
IPC分类号： B62D61/00
CPC分类号： B62J1/005 , B60L11/1805 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , Y02T10/7005
摘要： In an inverted pendulum type vehicle (1) configured to travel on a ground surface (G) while maintaining an upright posture under an inverted pendulum control, comprising a base frame (2) supporting a propulsion unit (3), the propulsion unit including a main wheel (85) configured to roll on the ground surface, and a seat unit (4) provided on the base frame for supporting hips of a rider (H), the seat unit includes a saddle (63) having at least a center (C) located ahead of an axial line (B) extending between a rotational center line (A) of the main wheel and a gravitational center (Gt1) of the inverted pendulum type vehicle. Thereby, even when there is an obstacle on the ground surface behind the vehicle, the main wheel rolling on the ground surface is prevented from coming into contact with the obstacle, and the boarding of the rider on the vehicle is facilitated.
摘要翻译：在倒立摆式车辆（1）中，其构造成在倒立摆控制下保持直立姿势的同时在地面（G）上行进，包括支撑推进单元（3）的基架（2），所述推进单元包括配置成在地面上滚动的主轮（85）以及设置在基座上用于支撑骑手（H）的臀部的座椅单元（4），座椅单元包括至少具有中心（ C）位于在主轮的旋转中心线（A）和倒立摆式车辆的重力中心（Gt1）之间延伸的轴线（B）的前方。因此，即使在车辆后方的地面上存在障碍物的情况下，也能够防止在地面上滚动的主轮与障碍物接触，并且车辆上的乘坐者的登机方便。

105. 发明申请

US20120166049A1 CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车辆的控制装置
公开(公告)号：US20120166049A1
公开(公告)日：2012-06-28
申请号：US13394466
申请日：2009-09-18
申请人： Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami , Toru Takenaka
发明人： Kazushi Akimoto , Shinichiro Kobashi , Hideo Murakami , Toru Takenaka
IPC分类号： G05D1/08
CPC分类号： B62K1/00 , B60L2200/14 , B60L2240/20 , B60L2240/26 , B60L2260/34 , B62K11/007
摘要： In an inverted pendulum type vehicle, a manipulated variable for control of a traveling motion unit is determined using adjustment parameters Ki_x, Ki_y (i=1, 2, 3) and θb_x_obj, θb_y_obj, which changes its value in accordance with whether it is in the loaded state in which an object to be transported is loaded on a loading part of the inverted pendulum type vehicle, or whether it is in the non-loaded state in which the object to be transported is not loaded thereon. The adjustment parameters are changed at a faster rate of change in the case of the transition from the loaded state to the non-loaded state, than in the case of the transition from the non-loaded state to the loaded state. The adjustment parameters for control are changed appropriately during transition while suppressing occurrence of slipping of the traveling motion unit.
摘要翻译：在倒立摆式车辆中，使用调整参数Ki_x，Ki_y（i = 1,2,3）和＆thetas; b_x_obj，＆thetas; b_y_obj来确定用于控制行驶运动单元的操作变量，其根据是否处于装载状态，其中运输对象被装载在倒立摆式车辆的装载部分上，或者是否处于未被装载物体的未装载状态。在从加载状态到非加载状态的转变的情况下，在从非加载状态到加载状态的转变的情况下，调整参数以更快的速度改变。用于控制的调整参数在过渡期间适当地改变，同时抑制行进运动单元的滑动的发生。

106. 发明申请

US20120032496A1 WHEEL, AND FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME 有权
标题翻译：车轮和摩擦驱动装置和使用其的OMNI方向车辆
公开(公告)号：US20120032496A1
公开(公告)日：2012-02-09
申请号：US13263931
申请日：2010-03-15
申请人： Toru Takenaka , Makoto Hirano , Hiroshi Gomi , Masao Sasaki , Taiji Koyama , Shinichiro Kobashi , Hideharu Izumi , Kazuya Kuwabara , Hiroyuki Makino
发明人： Toru Takenaka , Makoto Hirano , Hiroshi Gomi , Masao Sasaki , Taiji Koyama , Shinichiro Kobashi , Hideharu Izumi , Kazuya Kuwabara , Hiroyuki Makino
IPC分类号： B60B19/12 , B62M13/00
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B62H1/12 , B62K11/007
摘要： [Task] To allow a wheel that provides a performance required for use in an omni-directional vehicle to be manufactured in an efficient manner.[Solution] An annular member (51) comprises a C-shaped main body (61) and a complementary member (62) defining an endless annular shape jointly with the main body (61), a joint (63) between the main body (61) and complementary member (62) includes mating surfaces that are non-perpendicular to the cross sectional center line of the annular member, and the main body (61) and the complementary member (62) are fixedly joined to each other by using a threaded bolt (64) passed radially through the mating surfaces.
摘要翻译： [任务]允许以有效的方式制造在全方位车辆中使用所需性能的车轮。解决方案环形构件（51）包括与主体（61）共同限定环形环形的C形主体（61）和互补构件（62），主体（ 61）和互补构件（62）包括与环形构件的横截面中心线非垂直的配合表面，并且主体（61）和互补构件（62）通过使用螺栓（64）径向通过配合表面。

107. 发明授权

US07980336B2 Omni-directional drive device and omni-directional vehicle using the same 有权
标题翻译：全方位驱动装置和全方位车辆使用相同
公开(公告)号：US07980336B2
公开(公告)日：2011-07-19
申请号：US12450356
申请日：2008-04-08
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi
IPC分类号： B60B19/14 , F16H13/08
CPC分类号： B62K1/00 , B60B19/00 , B60B19/003 , B60B19/125 , B60B33/08 , B60B2200/47 , B60B2360/10 , B60Y2200/40 , B62K11/007
摘要： Provided is an omni-directional drive device that does not complicate the arrangement for a power source for a drive source such as an electric motor, and achieves a high durability and an ease of maintenance. A drive force in a first direction is produced by a movement of a first moveable member (10) itself, and a drive force in a second direction is produced by the rotation of first free rollers (14) retained by the first moveable member, the rotation of the first free rollers (14) being caused by engagement with second free rollers (15) that are retained by a second moveable member (11) and rotative actuation of the second moveable member (11). Electric motors serving as drive sources may be mounted on base members (4 and 5).
摘要翻译：提供了一种不会使用于诸如电动机的驱动源的电源的布置复杂化的全方位驱动装置，并且实现了高耐久性和易于维护。通过第一可移动部件（10）本身的移动产生第一方向的驱动力，并且通过第一可移动部件保持的第一自由辊（14）的旋转产生沿第二方向的驱动力，第一自由辊（14）的旋转是由与第二可移动构件（11）保持的第二自由辊（15）的接合和第二可移动构件（11）的旋转致动引起的。用作驱动源的电动机可以安装在基座构件（4和5）上。

108. 发明授权

US07774098B2 Gait generating device for moving robot 有权
标题翻译：用于移动机器人的步态生成装置
公开(公告)号：US07774098B2
公开(公告)日：2010-08-10
申请号：US10597933
申请日：2005-02-28
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： To generate a desired gait of a robot 1 such that a permissible range of a predetermined component (a translational floor reaction force horizontal component or the like) of a floor reaction force acting on the mobile robot 1, a gait generating system for a mobile robot creates a provisional motion, which indicates a provisional value of a desired motion, and repeats processing for correcting the provisional motion by using a first dynamic model and a second dynamic model having a dynamic accuracy that is higher than that of the first dynamic model until a predetermined condition is satisfied, thereby obtaining a final corrected motion as the desired motion. Relative to the provisional motion and a corrected motion at each correction, a difference between a predetermined component of a floor reaction force produced on the second dynamic model and a predetermined component of a floor reaction force produced on the first dynamic model is determined as a floor reaction force error, and a change amount of the error at each correction is also determined. A corrected motion when the change amount has converged to zero is determined as the desired motion.
摘要翻译：为了产生机器人1的所需步态，使得作用在移动机器人1上的地板反作用力的预定部件（平移地板反作用力水平部件等）的允许范围，用于移动机器人的步态生成系统创建指示期望运动的临时值的临时运动，并且通过使用具有比第一动态模型的动态精度更高的动态精度的第一动态模型和第二动态模型来重复用于校正临时运动的处理，直到满足预定条件，从而获得作为期望运动的最终校正运动。相对于临时运动和在每次校正处的校正运动，将在第二动态模型上产生的地面反作用力的预定分量与在第一动态模型上产生的地板反作用力的预定分量之间的差确定为底板反作用力误差和每次校正时的误差的变化量也被确定。当变化量已经收敛到零时的校正运动被确定为期望的运动。

109. 发明授权

US07715945B2 Gait producing device for moving robot 有权
标题翻译：用于移动机器人的步态生产装置
公开(公告)号：US07715945B2
公开(公告)日：2010-05-11
申请号：US10597931
申请日：2005-02-28
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： By using a first dynamic model of a moving robot 1, a provisional motion, which indicates a provisional value of a desired motion of the robot 1, is created such that a desired value of a floor reaction force moment horizontal component and a permissible range of a translational floor reaction force horizontal component are satisfied on the first dynamic model. The difference between a floor reaction force produced on a second dynamic model, which has a dynamic accuracy that is higher than that of the first dynamic model, by the provisional motion and a floor reaction force produced on the first dynamic model is defined as a floor reaction force error. Based on this floor reaction force error, the provisional motion is corrected on the first dynamic model to generate a desired motion. The desired motion is generated such that the value obtained by adding the floor reaction force error to the floor reaction force generated on the first dynamic model satisfies the aforesaid desired value and permissible range.
摘要翻译：通过使用移动机器人1的第一动态模型，创建表示机器人1的期望运动的临时值的临时运动，使得地板反作用力矩水平分量的期望值和允许范围在第一动态模型上满足平移地板反作用力水平分量。在第二动态模型上产生的地板反作用力之间的差异，其具有比第一动态模型高的动态精度，通过临时动作产生的地板反作用力和在第一动态模型上产生的地板反作用力的差定义为底板反作用力误差。基于该地板反作用力误差，在第一动态模型上校正临时运动以产生期望的运动。产生期望的运动，使得通过将地板反作用力误差加到在第一动态模型上产生的地板反作用力而获得的值满足上述期望值和容许范围。

110. 发明授权

US07603199B2 Control device for mobile body 有权
标题翻译：移动体控制装置
公开(公告)号：US07603199B2
公开(公告)日：2009-10-13
申请号：US10596048
申请日：2004-10-29
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B25J13/085 , B62D57/032
摘要： Ground contact portions are categorized in a tree structure manner such that all of the ground contact portions of a mobile body (mobile robot) equipped with three or more ground contact portions become leaf nodes and that an intermediate node exists between the leaf nodes and a root node having all the leaf nodes as its descendant nodes. On each node (a C-th node) having child nodes, the correction amounts of the desired relative heights of the ground contact portions of the C-th node are determined such that at least the difference between an actual posture inclination and a desired posture inclination of a predetermined portion, such as a base body, (posture inclination difference) is approximated to zero, and joints of the mobile body 1 are operated so that a desired relative height obtained by combining the correction amounts is satisfied.
摘要翻译：接地部分以树结构的方式分类，使得装备有三个或更多个接地部分的移动体（移动机器人）的所有接地部分成为叶节点，并且中间节点存在于叶节点和根节点之间节点具有所有叶节点作为其后代节点。在具有子节点的每个节点（第C节点）上，确定第C个节点的接地部分的期望相对高度的校正量，使得至少实际姿势倾斜与期望姿势之间的差异诸如基体的预定部分的倾斜（姿势倾斜差）近似为零，并且操作移动体1的关节，使得满足通过组合校正量而获得的期望相对高度。

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