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51. 发明授权

US07143850B2 Leg joint assist device for legged movable robot 有权
标题翻译：用于腿式可移动机器人的腿关节辅助装置
公开(公告)号：US07143850B2
公开(公告)日：2006-12-05
申请号：US10494846
申请日：2002-10-07
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura
IPC分类号： B62D51/06
CPC分类号： B62D57/032 , B25J19/0012 , Y10T74/20305
摘要： An assist device is provided with a spring device that generates an auxiliary driving force, by an elastic energy, acting on a joint of a leg. The spring device includes a gas spring having a cylinder and a piston. Bending/stretching motion between link members and at the joint is transmitted to the spring device through a motion transmission device that includes a link arm. The spring device is provided so that the auxiliary driving force increases as a knee bending angle θ increases until the knee bending angle θ reaches a predetermined angle, and so that, once the knee bending angle θ exceeds the predetermined angle, the auxiliary driving force becomes smaller than or equal to the driving force obtaining at the predetermined angle, effectively reducing a burden on an actuator of the legged mobile robot joint.
摘要翻译：辅助装置设置有弹簧装置，其通过作用在腿的关节上的弹性能产生辅助驱动力。弹簧装置包括具有气缸和活塞的气弹簧。连杆构件和接头之间的弯曲/拉伸运动通过包括连杆臂的运动传递装置传递到弹簧装置。提供弹簧装置，使得辅助驱动力随着膝部弯曲角度θ增加直到膝部弯曲角度θ达到预定角度而增加，并且使得一旦膝部弯曲角度θ超过预定角度，则辅助驱动力变为小于或等于以预定角度获得的驱动力，有效地减轻了腿式可移动机器人接头的致动器的负担。

52. 发明申请

US20060243498A1 Legged mobile robot 有权
标题翻译：有腿的移动机器人
公开(公告)号：US20060243498A1
公开(公告)日：2006-11-02
申请号：US10554267
申请日：2004-05-18
申请人： Yoshinari Takemura , Tadaaki Hasegawa , Takafumi Fukushima
发明人： Yoshinari Takemura , Tadaaki Hasegawa , Takafumi Fukushima
IPC分类号： B62D51/06
CPC分类号： B25J17/0283
摘要： In a legged mobile robot, each hip joint that connects a body with a thigh link comprises a first rotary shaft that provides a degree of freedom to rotate about a yaw axis, a second rotary shaft that provides a degree of freedom to rotate about a roll axis, and a third rotary shaft that provides a degree of freedom to rotate about a pitch axis, and in addition thereto, a fourth rotary shaft that provides a redundant degree of freedom. Owing to this configuration, the amount of body bending and the movable range of the legs can be increased, thereby improving the degree of posture and gait freedom.
摘要翻译：在腿式移动机器人中，将身体与大腿连接部连接的每个髋关节包括提供围绕偏转轴线旋转的自由度的第一旋转轴，提供围绕卷轴旋转的自由度的第二旋转轴以及第三旋转轴，其提供围绕俯仰轴线旋转的自由度，并且除此之外，提供冗余自由度的第四旋转轴。由于这种构造，能够增加身体弯曲量和腿部的可动范围，从而提高姿势和步态自由度。

53. 发明申请

US20050120820A1 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US20050120820A1
公开(公告)日：2005-06-09
申请号：US10499116
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： A63H11/18 , B25J5/00 , B25J19/00 , B62D57/02 , B62D57/032 , F16F9/04 , F16F15/023 , G05G11/00 , G05G13/00
CPC分类号： B62D57/032 , B25J19/0091 , B62D57/02 , F16F9/0481 , F16F15/023 , Y10T74/20299
摘要： A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (variable capacity element) is provided at a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. The air in atmosphere may flow into and out of the bag-like member 19 by inflow/outflow means 20 equipped with a solenoid valve 27, and the like. In a lifting state of the foot mechanism 6, inflow of the air into the bag-like member 19 is controlled, thereby controlling the final height of the bag-like member 19 in an inflated state to the height in response to a gait type of the robot. While properly reducing an impact load during a landing motion of the leg of a legged mobile robot depending on the gait type of the robot, stability of a posture of the robot may easily be secured, resulting in allowing a configuration to be lighter in weight.
摘要翻译：一种设置在机器人腿部的脚部机构6中的着陆减震装置18，其中在脚部机构6的底面侧设置有可膨胀的袋状构件19（可变容量元件）。袋状构件19由橡胶等弹性材料构成。大气中的空气可以通过装有电磁阀27的流入/流出装置20流入和流出袋状构件19。在脚部机构6的提升状态下，空气进入袋状部件19的流入被控制，从而根据步态类型控制囊状部件19处于膨胀状态的最终高度至高度机器人。根据机器人的步态类型，在腿式移动机器人的脚的着陆运动期间恰当地减小冲击负荷的同时，可以容易地确保机器人的姿势的稳定性，从而允许配置更轻。

54. 发明申请

US20050011685A1 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US20050011685A1
公开(公告)日：2005-01-20
申请号：US10499056
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： A63H11/18 , B25J5/00 , B25J19/00 , B62D57/032 , F16F9/04 , B62D51/06
CPC分类号： B62D57/032 , B25J19/0091 , F16F9/0481
摘要： A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (a variable capacity element) is provided at a ground-contacting face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber and has a restoring force. An interior portion of the bag-like member 19 is communicated with the atmosphere side through a flow passage 20. During a landing motion of the leg, the bag-like member 19 makes contact with the ground to be compressed, and the air in the interior portion thereof flows out into the atmosphere through the flow passage 20, so that its outflow resistance is generated. Accordingly, a landing shock is reduced. In a lifting state of the leg, the restoring force of the bag-like member 19 allows the bag-like member 19 to be inflated while the air flows into the interior portion thereof. An impact load during the landing of the leg of the legged mobile robot may smoothly be reduced in a light-weight configuration.
摘要翻译：设置在机器人腿部的脚部机构6中的着陆减震装置18，其中在脚部机构6的接地面侧设置有可膨胀的袋状构件19（可变容量元件）。袋类构件19由橡胶等弹性材料构成，具有回复力。袋状构件19的内部通过流路20与大气侧连通。在腿部的着陆运动期间，袋状构件19与地面接触以被压缩，并且空气在其内部部分通过流路20流入大气，从而产生其流出阻力。因此，降低着陆冲击。在腿的提升状态下，袋状构件19的恢复力允许袋状构件19在空气流入其内部部分时膨胀。腿型移动式机器人腿部着陆时的冲击载荷可以在轻型构型中平滑地减少。

55. 发明授权

US06606294B2 Optical disk having read-only and rewritable areas 有权
标题翻译：具有只读和可重写区域的光盘
公开(公告)号：US06606294B2
公开(公告)日：2003-08-12
申请号：US10144339
申请日：2002-05-13
申请人： Yoshinari Takemura , Takashi Ishida , Shunji Ohara , Isao Satoh
发明人： Yoshinari Takemura , Takashi Ishida , Shunji Ohara , Isao Satoh
IPC分类号： G11B724
CPC分类号： G11B27/3027 , G11B7/00736 , G11B7/00745 , G11B11/10597 , G11B20/12 , G11B20/1217 , G11B20/1251 , G11B20/1252 , G11B20/1258 , G11B20/1262 , G11B20/182 , G11B20/1833 , G11B20/1883 , G11B20/1889 , G11B27/105 , G11B27/24 , G11B27/329 , G11B2020/10879 , G11B2020/1229 , G11B2020/1232 , G11B2020/1259 , G11B2020/1265 , G11B2020/1277 , G11B2020/1278 , G11B2020/1288 , G11B2020/1292 , G11B2220/20 , G11B2220/211 , G11B2220/216 , G11B2220/218 , G11B2220/2537 , G11B2220/2562 , G11B2220/2575
摘要： The optical disk of this invention includes a read-only area in which a plurality of read-only tracks are formed and a rewritable area in which a plurality of rewritable tracks are formed, wherein each of the plurality of read-only tracks is divided into a plurality of first sectors, a signal is prerecorded in at least one of the plurality of first sectors under a predetermined reproduction format, each of the plurality of rewritable tracks is divided into a plurality of second sectors, a signal is recordable in at least one of the plurality of second sectors under a predetermined recording format including the predetermined reproduction format, and the read-only area is located on an inner portion of the optical disk, while the rewritable area is located on an outer portion of the optical disk.
摘要翻译：本发明的光盘包括其中形成多个只读磁道的只读区域和其中形成多个可重写磁道的可重写区域，其中多个只读磁道中的每一个被分成多个第一扇区，信号以预定的再现格式被预先记录在所述多个第一扇区中的至少一个中，所述多个可重写磁道中的每一个被分成多个第二扇区，信号可记录在至少一个在预定的记录格式包括预定的再现格式的多个第二扇区中，只读区域位于光盘的内部，而可重写区域位于光盘的外部。

56. 发明授权

US6078559A Optical disk having read-only and rewritable areas with overlapping formats 失效
标题翻译：具有重叠格式的只读和可重写区域的光盘
公开(公告)号：US6078559A
公开(公告)日：2000-06-20
申请号：US954929
申请日：1997-10-21
申请人： Yoshinari Takemura , Takashi Ishida , Shunji Ohara , Isao Satoh
发明人： Yoshinari Takemura , Takashi Ishida , Shunji Ohara , Isao Satoh
IPC分类号： G11B7/00 , G11B7/007 , G11B20/12 , G11B20/18 , G11B27/10 , G11B27/19 , G11B27/24 , G11B27/30 , G11B27/32 , G11B7/24
CPC分类号： G11B27/3027 , G11B11/10597 , G11B20/12 , G11B20/1217 , G11B20/1251 , G11B20/1252 , G11B20/1262 , G11B20/1833 , G11B27/105 , G11B27/24 , G11B27/329 , G11B7/007 , G11B7/00736 , G11B7/00745 , G11B20/1258 , G11B20/182 , G11B20/1883 , G11B20/1889 , G11B2020/10879 , G11B2020/1229 , G11B2020/1232 , G11B2020/1259 , G11B2020/1265 , G11B2020/1277 , G11B2020/1278 , G11B2020/1288 , G11B2020/1292 , G11B2220/20 , G11B2220/211 , G11B2220/216 , G11B2220/218 , G11B2220/2537 , G11B2220/2562 , G11B2220/2575
摘要： An optical disk includes a read-only area in which a plurality of read-only tracks are formed and a rewritable area in which a plurality of rewritable tracks are formed, wherein each of the plurality of read-only tracks is divided into a plurality of first sectors, a signal is prerecorded in at least one of the plurality of first sectors under a predetermined reproduction format, each of the plurality of rewritable tracks is divided into a plurality of second sectors, a signal is recordable in at least one of the plurality of second sectors under a predetermined recording format including the predetermined reproduction format, and the read-only area is located on an inner portion of the optical disk, while the rewritable area is located on an outer portion of the optical disk.
摘要翻译：光盘包括其中形成多个只读磁道的只读区域和形成有多个可重写磁道的可重写区域，其中多个只读磁道中的每一个被划分为多个第一扇区，在预定的再现格式下，信号被预先记录在多个第一扇区中的至少一个中，多个可重写磁道中的每一个被分成多个第二扇区，信号可以被记录在多个第一扇区中的至少一个中的第二扇区在包括预定再现格式的预定记录格式下，并且只读区域位于光盘的内部，而可重写区域位于光盘的外部。

57. 发明授权

US5933410A Optical disc and optical disc driving apparatus 失效
标题翻译：光盘和光盘驱动装置
公开(公告)号：US5933410A
公开(公告)日：1999-08-03
申请号：US883443
申请日：1997-06-26
申请人： Kazuhiko Nakane , Hiroyuki Ohata , Masato Nagasawa , Kenji Gotoh , Yoshinobu Ishida , Isao Satoh , Shunji Ohara , Takashi Ishida , Yoshinari Takemura
发明人： Kazuhiko Nakane , Hiroyuki Ohata , Masato Nagasawa , Kenji Gotoh , Yoshinobu Ishida , Isao Satoh , Shunji Ohara , Takashi Ishida , Yoshinari Takemura
IPC分类号： G11B20/12 , G11B7/007 , G11B7/09 , G11B20/14 , G11B27/19 , G11B27/24 , G11B27/30 , G11B7/26
CPC分类号： G11B7/00718 , G11B27/19 , G11B27/3027 , G11B7/00745 , G11B7/0901 , G11B7/0938 , G11B27/24 , G11B7/094
摘要： An optical disc using a single-spiral land and groove track format enabling accurate tracking offset correction and reliable detection of the transition point between a land track and a groove track, and a driving apparatus therefor. Four physical address areas PID1, PID2, PID3, and PID4 are recorded to a header area such that PID1 and PID2 are offset one-half track pitch toward the outside circumference of the disc from the groove track center, and PID3 and PID4 are offset one-half track pitch toward the inside circumference of the disc from the groove track center, and the physical address areas PID1-PID4 can be detected by means of a difference signal in the radial direction. The single frequency pattern area VFO at the beginning of each PID is lengthened by PID1 and PID3, thereby enabling tracking offset correction using a sum signal, and detection of the land-groove transition point using a difference signal obtained from the PID offset.
摘要翻译：一种使用单螺旋纹脊和凹槽轨道格式的光盘，其能够进行轨迹和凹槽轨道之间的转变点的精确跟踪偏移校正和可靠的检测，以及用于其的驱动装置。四个物理地址区域PID1，PID2，PID3和PID4被记录到标题区域，使得PID1和PID2从凹槽轨道中心向盘的外圆周偏移二分之一道距，PID3和PID4偏移一个从凹槽轨道中心朝向盘的内圆周的磁道间距，并且物理地址区域PID1-PID4可以通过径向上的差分信号来检测。每个PID开始时的单频模式区域VFO由PID1和PID3延长，从而可以使用和信号进行跟踪偏移校正，并使用从PID偏移获得的差分信号来检测纹沟转换点。

58. 发明授权

US5923640A Optical disc with a rewritable area and a read-only area 失效
公开(公告)号：US5923640A
公开(公告)日：1999-07-13
申请号：US883445
申请日：1997-06-26
申请人： Yoshinari Takemura , Shunji Ohara , Takashi Ishida , Isao Satoh , Kazuhiko Nakane , Masato Nagasawa , Yoshinobu Ishida
发明人： Yoshinari Takemura , Shunji Ohara , Takashi Ishida , Isao Satoh , Kazuhiko Nakane , Masato Nagasawa , Yoshinobu Ishida
IPC分类号： G11B7/00 , G11B7/004 , G11B7/007 , G11B7/30 , G11B7/24
CPC分类号： G11B7/00745 , G11B7/007 , G11B7/00718 , G11B7/00736 , G11B7/0079
摘要： An optical disc having both rewritable area and read-only area is disclosed. The rewritable area has a single spiral pattern of start track land at a leading edge, and a single spiral pattern of end track land at a trailing edge, whereby portions of the physical address area PID deviated approximately Pa/2 from the track of the rewritable area are being intruded into the start track land and the end track land.

59. 发明申请

US20090071282A1 Joint Structure of Robot 审中-公开
标题翻译：机器人联合结构
公开(公告)号：US20090071282A1
公开(公告)日：2009-03-19
申请号：US11887918
申请日：2007-01-22
申请人： Yoshinari Takemura
发明人： Yoshinari Takemura
IPC分类号： B25J17/00
CPC分类号： B25J17/0258 , B25J9/0048 , B25J15/0009 , B25J17/0266 , B25J17/0275 , Y10T74/20329
摘要： A joint structure of a robot performs a longitudinal swing motion and a lateral swing motion of a hand (8) coupled to an arm link (2). The joint structure includes: a base link (21) as a main body of the arm link (2) having a pair of facing portions (21a); a gimbal link (4) having a longitudinal shaft and (4a) a lateral shaft (4b) not parallel to each other for providing the longitudinal swing motion and lateral swing motion of the coupled body, the longitudinal shaft being supported between the pair of facing portions (21a); a main link (5) with one end thereof coupled to the lateral shaft (4b) of the gimbal link (4) and with the other end thereof coupled to the hand (8); and a sub link (6) with one end thereof coupled to the gimbal link (4) and with the other end thereof coupled to the hand (8), the sub link (6) being provided crosswise with the main link (5) to form a four link mechanism (1) therewith. This ensures a wide movable angle of the joint.
摘要翻译：机器人的联合结构执行与臂连杆（2）联接的手（8）的纵向摆动运动和横向摆动运动。接头结构包括：作为臂连杆（2）的主体的基部连杆（21），具有一对相对部分（21a）; 具有纵向轴的万向接头（4）和（4a）不相互平行的侧向轴（4b），用于提供所述联接体的纵向摆动运动和横向摆动运动，所述纵向轴支撑在所述一对面部分（21a）; 主连杆（5），其一端联接到万向节连杆（4）的侧轴（4b），另一端连接到手（8）; 以及一个子连杆（6），其一端连接到万向接头（4），另一端连接到手（8），子连杆（6）与主连杆（5）横向设置成与其形成四连杆机构（1）。这确保了接头的可移动角度。

60. 发明授权

US07492115B2 Legged mobile robot 有权
标题翻译：有腿的移动机器人
公开(公告)号：US07492115B2
公开(公告)日：2009-02-17
申请号：US10525222
申请日：2003-08-07
申请人： Hiroshi Gomi , Kazushi Hamaya , Hitoshi Toyoda , Yoshinari Takemura
发明人： Hiroshi Gomi , Kazushi Hamaya , Hitoshi Toyoda , Yoshinari Takemura
IPC分类号： B25J9/18
CPC分类号： B25J9/1065 , B62D57/032
摘要： In a legged mobile robot (1), each leg (2) has at least a first joint (16) and a second joint (18, 20) located below the first joint in the gravitational direction, and the actuator that drives the second joint (54, 56) is located at least one of a position same as that of the first joint and a position (28) above the first joint in the gravitational direction. With this, it becomes possible to lighten the weight of the ground-contacting ends of the legs and thereby provide a legged mobile robot enabling reduction of the inertial forces occurring in the legs during moving, particularly during high-speed moving.
摘要翻译：在有腿可动机器人（1）中，每个腿部（2）具有至少第一接头（16）和位于第一接头的重力方向下方的第二接头（18,20），驱动第二接头（54,56）位于与第一接头的位置相同的位置和在重力方向上的第一接头上方的位置（28）中的至少一个。由此，能够减轻腿的地面接触端的重量，从而提供有腿的移动机器人，从而能够减少移动期间腿部发生的惯性力，特别是在高速移动期间。

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