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51. 发明申请

US20070061038A1 GAIT GENERATING DEVICE FOR MOVING ROBOT 有权
标题翻译：用于移动机器人的GAIT生成装置
公开(公告)号：US20070061038A1
公开(公告)日：2007-03-15
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。

52. 发明申请

US20070013506A1 Control device for mobile body 有权
标题翻译：移动体控制装置
公开(公告)号：US20070013506A1
公开(公告)日：2007-01-18
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： G08B23/00
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。

53. 发明授权

US07145305B2 System for estimating attitude of leg type moving robot itself 有权
标题翻译：用于估计腿型移动机器人本身姿态的系统
公开(公告)号：US07145305B2
公开(公告)日：2006-12-05
申请号：US10511451
申请日：2003-04-28
申请人： Toru Takenaka , Takashi Matsumoto
发明人： Toru Takenaka , Takashi Matsumoto
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J13/088 , B62D57/02 , G01C21/16
摘要： A system for estimating an acceleration of a motion of an accelerometer itself that is generated by a motion of a robot 1, using amounts of motional states of the robot, including a desired motion of a desired gait, a detected value of a displacement of a joint, and a desired value of the displacement of the joint of the robot 1 having a gyro sensor (angular velocity sensor) and an accelerometer installed on a body 3 or the like thereof, and for estimating an actual posture of a predetermined part, such as the body 3, on the basis of the acceleration of the motion, the detected acceleration value of the accelerometer, and the angular velocity detected value of the angular velocity sensor. An error of the estimated value of the actual posture of the predetermined part is estimated on the basis of a difference between the detected acceleration value and the motional acceleration, and then an input of an integrating means for integrating angular velocity detected values is corrected to bring the aforesaid error close to zero so as to obtain an output of the integrating means as an estimated value of the actual posture. Thus, an actual posture of a predetermined part is accurately estimated.
摘要翻译：一种用于估计由机器人1的运动产生的加速度计本身的运动的加速度的系统，使用机器人的运动状态量，包括所需步态的期望运动，检测到的位移的值关节，以及具有安装在主体3等上的具有陀螺仪传感器（角速度传感器）和加速度计的机器人1的关节的位移的期望值，并且用于估计预定部分的实际姿势，作为主体3，基于运动的加速度，检测到的加速度计的加速度值和角速度传感器的角速度检测值。基于检测到的加速度值和运动加速度之间的差来估计预定部分的实际姿势的估计值的误差，然后校正用于积分角速度检测值的积分装置的输入以带来上述误差接近零，以便获得积分装置的输出作为实际姿势的估计值。因此，精确地估计预定部分的实际姿势。

54. 发明申请

US20060241386A1 Radiological imaging apparatus and cooling method of same 有权
标题翻译：放射成像装置及其冷却方法相同
公开(公告)号：US20060241386A1
公开(公告)日：2006-10-26
申请号：US11355997
申请日：2006-02-17
申请人： Norihito Yanagita , Tsutomu Imai , Takashi Matsumoto , Kensuke Amemiya , Yuuichirou Ueno , Tomoyuki Seino
发明人： Norihito Yanagita , Tsutomu Imai , Takashi Matsumoto , Kensuke Amemiya , Yuuichirou Ueno , Tomoyuki Seino
IPC分类号： A61B5/05
CPC分类号： G01T1/2985 , A61B6/037 , G01T1/244 , G01T1/249
摘要： A radiological imaging apparatus which can keep detectors at a low temperature, improve a time resolution and an energy resolution and perform an accurate diagnosis is provided. In the radiological imaging apparatus, an imaging apparatus imaging a testing subject supported by a bed couples a detector board having placed thereon radiation detectors detecting radiations emitted from the testing subject and a signal processing board having placed thereon a signal processing circuit processing detection signals of the radiation detectors via an intermediate board by connectors, and separates a detector space including the radiation detectors and a signal processing circuit space including the signal processing circuit.
摘要翻译：提供了一种能够使检测器保持在低温下的放射成像装置，提高时间分辨率和能量分辨率并进行准确的诊断。在放射学成像装置中，对由床支撑的测试对象成像的成像装置将检测器板放置在其上，检测器板检测从检测对象发射的辐射的探测器，以及放置有信号处理电路的信号处理电路处理检测对象的检测信号通过连接器经由中间板的辐射检测器，并且分离包括辐射检测器的检测器空间和包括信号处理电路的信号处理电路空间。

55. 发明授权

US07114758B2 Storage apparatus for vehicle 有权
标题翻译：车载存储设备
公开(公告)号：US07114758B2
公开(公告)日：2006-10-03
申请号：US11038463
申请日：2005-01-21
申请人： Hiroaki Ichioka , Takashi Matsumoto
发明人： Hiroaki Ichioka , Takashi Matsumoto
IPC分类号： B60N3/12
CPC分类号： B60R7/04 , B60R11/00 , B60R11/0264 , B60R13/0256 , B60R2011/0005
摘要： In a storage apparatus for a vehicle including a lid which can rotate about a pivot, and a damper device having a cord-like connecting member and adapted to generate damping force against pulling force from the connecting member, wherein a connecting wire (the connecting member) is pulled, when the lid rotates in one direction, thereby to generate the damping force in the damper device, it is so constructed that a damping force control member having a guide face for the connecting wire is fixed to the lid, and when the lid has rotated in a direction of receiving the damping force, the connecting wire is wound around the guide face and pulled.
摘要翻译：在一种用于车辆的存储装置中，该车辆包括可围绕枢轴旋转的盖子，以及具有绳状连接构件并适于产生抵抗来自连接构件的拉力的阻尼力的阻尼器装置，其中连接线）被拉动，当盖沿一个方向旋转时，由此在阻尼装置中产生阻尼力，其结构是使具有用于连接线的引导面的阻尼力控制构件固定在盖上，并且当盖子沿接收阻尼力的方向旋转，连接线缠绕在引导面上并拉动。

56. 发明申请

US20060214621A1 Abnormality detector of moving robot 有权
标题翻译：移动机器人异常检测器
公开(公告)号：US20060214621A1
公开(公告)日：2006-09-28
申请号：US10540470
申请日：2003-02-14
申请人： Naohide Ogawa , Masaki Aihara , Takashi Matsumoto
发明人： Naohide Ogawa , Masaki Aihara , Takashi Matsumoto
IPC分类号： B25J5/00
CPC分类号： B25J9/1674 , G05B2219/34454 , G05B2219/34455 , G05B2219/42268
摘要： In an abnormality detection system of a mobile robot, it is configured such that it is self-diagnosed whether the quantity of state is an abnormal value, or whether at least one of the internal sensor, etc., is abnormal and when an abnormality is self-diagnosed, abnormality information affixed with a time on which the abnormality occurred is outputted to be stored in an internal memory and in an external memory. With this, it becomes possible to improve the reliability of abnormality detection of the mobile robot and by storing the information affixed with a time on which the abnormality occurred, it becomes possible to ascertain accurately the course of events leading up to the abnormality. It is further configured such that in addition to a time on which the abnormality occurred, the information is stored in an external memory together with a parameter indicative of the quantity of state.
摘要翻译：在移动机器人的异常检测系统中，被配置成能够自我诊断状态量是异常值还是内部传感器等中的至少一个异常，异常情况输出自身诊断的，发生了异常的时间的异常信息被存储在内部存储器和外部存储器中。由此，能够提高移动机器人的异常检测的可靠性，通过存储发生异常的时间附加的信息，能够准确地确定导致异常的事件的过程。进一步配置为，除了发生异常的时间之外，还将该信息与指示状态量的参数一起存储在外部存储器中。

57. 发明申请

US20060186341A1 Radiological imaging apparatus and positron emission tomographic apparatus 有权
标题翻译：放射成像装置和正电子发射断层摄影装置
公开(公告)号：US20060186341A1
公开(公告)日：2006-08-24
申请号：US11355136
申请日：2006-02-16
申请人： Yuuichirou Ueno , Kensuke Amemiya , Norihito Yanagita , Takafumi Ishitsu , Tomoyuki Seino , Takashi Matsumoto , Shinobu Irikura
发明人： Yuuichirou Ueno , Kensuke Amemiya , Norihito Yanagita , Takafumi Ishitsu , Tomoyuki Seino , Takashi Matsumoto , Shinobu Irikura
IPC分类号： G01T1/166
CPC分类号： G01T1/2985
摘要： A positron emission tomography apparatus installs a plurality of detector units in the circumference of a bed. The detector unit installs a plurality of combined substrates including detectors, analogue ASICs, and a digital ASIC and a voltage adjustment device inside a housing. A partition plate installed inside the housing separates the region inside the housing into a first region installed with the combined substrates and a second region installed with the voltage adjustment device. The partition plate blocks noise generated in the voltage adjustment device so as not to affect γ-ray detection signals outputted from the detectors, thereby preventing the effect of the noise generated in the voltage adjustment device toward γ-ray detection signals and shortening the examination time.
摘要翻译：正电子发射断层摄影装置在床的周围安装多个检测器单元。检测器单元将包括检测器，模拟ASIC以及数字ASIC和电压调节装置的多个组合基板安装在壳体内。安装在壳体内部的隔板将壳体内的区域分离成安装有组合基板的第一区域和安装有电压调节装置的第二区域。分隔板阻止在电压调节装置中产生的噪声，从而不影响从检测器输出的伽马射线检测信号，从而防止在电压调节装置中产生的噪声对伽马射线检测信号的影响并缩短检查时间。

58. 发明申请

US20060059975A1 Force sensor abnormality detection system for legged mobile robot 有权
标题翻译：用于腿式移动机器人的力传感器异常检测系统
公开(公告)号：US20060059975A1
公开(公告)日：2006-03-23
申请号：US11226367
申请日：2005-09-15
申请人： Yuichiro Kawaguchi , Takashi Matsumoto
发明人： Yuichiro Kawaguchi , Takashi Matsumoto
IPC分类号： G01L25/00
CPC分类号： G01L25/00
摘要： In a force sensor abnormality detection system for a legged mobile robot having a force sensor installed between a foot and each leg and producing an output indicative of floor reaction force acting from a floor on which the foot contacts, the robot is controlled to to perform a walking-in-place motion when the robot is powered on, it is discriminated whether the output of the force sensor during the walk-in-place motion are within a predetermined range, and abnormality of the sensor is detected based on a result of the discrimination, thereby enabling detection of force sensor abnormality with high accuracy in a legged mobile robot whose feet are equipped with force sensors for detecting floor reaction forces.
摘要翻译：在具有安装在脚和每个腿之间的力传感器的有腿的移动机器人的力传感器异常检测系统中，产生表示从脚接触的地板作用的地面反作用力的输出，机器人被控制为执行当机器人通电时的就地运动，判断在步行运动期间力传感器的输出是否处于预定范围内，并且基于该运动的结果来检测传感器的异常因此能够在脚部配备有用于检测楼板反作用力的力传感器的有腿移动机器人中以高精度检测力传感器异常。

59. 发明申请

US20060012444A1 Multiplier crystal oscillator 失效
标题翻译：乘法晶体振荡器
公开(公告)号：US20060012444A1
公开(公告)日：2006-01-19
申请号：US11177020
申请日：2005-07-08
申请人： Takashi Matsumoto
发明人： Takashi Matsumoto
IPC分类号： H03B5/32
CPC分类号： H05K1/0233 , H03B5/362 , H05K1/025 , H05K2201/09309 , H05K2201/0969 , H05K2201/1003 , H05K2201/1006
摘要： The present invention has a configuration such that in a multiplier crystal oscillator wherein a multilayer board having earthing metal films on both principal planes of an intermediate board, and mount boards laminated on both sides thereof, and at least one multiplier LC filter is arranged on one principal plane of the laminated board, an opening is provided in the earthing metal film that is provided on one principal plane of the intermediate board opposed to an arrangement region of the LC filter, and a ground of the intermediate board is exposed. An object of the present invention is to provide a multiplier oscillator wherein particularly the displacement and irregularity of the multiple frequencies serving as the output frequency is prevented, and furthermore spurious oscillations are suppressed.
摘要翻译：本发明具有如下结构：在乘法晶体振荡器中，其中在中间板的两个主平面上具有接地金属膜的多层板和层叠在其两侧的安装板和至少一个乘法器LC滤波器布置在一个层叠板的主面，在设置在中间板的与LC滤波器的配置区域相对的一个主面上的接地金属膜中设置开口，露出中间板的接地。本发明的一个目的是提供一种乘法器振荡器，其中特别地防止用作输出频率的多个频率的位移和不规则性，并且此外还抑制了杂散振荡。

60. 发明申请

US20050264270A1 DC to DC converter producing output voltage exhibit rise and fall characteristics independent of load thereon 失效
标题翻译：产生输出电压的直流 - 直流转换器具有独立于其上的负载的上升和下降特性
公开(公告)号：US20050264270A1
公开(公告)日：2005-12-01
申请号：US11134270
申请日：2005-05-23
申请人： Mitsuo Saeki , Hidetoshi Yano , Hidekiyo Ozawa , Seiya Kitagawa , Toshiyuki Matsuyama , Takashi Matsumoto , Kyuichi Takimoto , Yoshiaki Sano
发明人： Mitsuo Saeki , Hidetoshi Yano , Hidekiyo Ozawa , Seiya Kitagawa , Toshiyuki Matsuyama , Takashi Matsumoto , Kyuichi Takimoto , Yoshiaki Sano
IPC分类号： H02M3/155 , G05F1/40 , H02M1/00 , H02M1/36 , H02M3/156
CPC分类号： H02M1/36 , H02M3/156 , H02M2001/008
摘要： A direct-current to direct-current conversion (DC/DC) apparatus includes a control circuit having an error amplifier for voltage control, basing the conversion on a pulse width modulation control using an output of the error amplifier. The error amplifier inputs a voltage signal corresponding to an output voltage of a DC/DC result and a plurality of reference voltage signals. The DC/DC apparatus also includes a soft start capacitor to provide one of the plurality of reference voltage signals. The error amplifier amplifies a difference between the voltage signal corresponding of the output voltage of a DC/DC result and a voltage signal of a lower potential among the plurality of reference voltage signals and carries out the pulse width modulation control. Furthermore, the control circuit includes a circuit for discharging charges corresponding to the output voltage of the DC/DC result when a power supply to the control circuit is turned off.
摘要翻译：直流到直流转换（DC / DC）装置包括具有用于电压控制的误差放大器的控制电路，利用误差放大器的输出根据脉宽调制控制进行转换。误差放大器输入对应于DC / DC结果和多个参考电压信号的输出电压的电压信号。 DC / DC装置还包括软启动电容器，以提供多个参考电压信号中的一个。误差放大器放大对应于DC / DC结果的输出电压的电压信号与多个参考电压信号中较低电位的电压信号之间的差值，并执行脉宽调制控制。此外，当控制电路的电源被断开时，控制电路包括用于放电对应于DC / DC结果的输出电压的电荷的电路。

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