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71. 发明授权

US08386159B2 Omnidirectional vehicle 有权
标题翻译：全方位车
公开(公告)号：US08386159B2
公开(公告)日：2013-02-26
申请号：US12943230
申请日：2010-11-10
申请人： Toru Takenaka , Kazushi Akimoto
发明人： Toru Takenaka , Kazushi Akimoto
IPC分类号： G06F17/10 , G06G7/48
CPC分类号： B62K1/00 , B60L11/18 , B60L2200/16 , B60L2200/24 , B62K11/007 , Y02T10/7005 , Y02T10/7258
摘要： According to a vehicle 1 of the present invention, coordinate systems of a past estimated value and an instantaneous provisional value of a two-dimensional floor inclination are conformed, by coordinate converting at least one of the “past estimated value” and the “instantaneous provisional value” of the two-dimensional floor inclination, using an orientation of the vehicle 1 or a rate of change thereof. Thereafter, a new estimated value of the two-dimensional floor inclination is calculated, by calculating a weighed mean value or a low-pass filter value using the past estimated value and the instantaneous provisional value of the two-dimensional floor inclination.
摘要翻译：根据本发明的车辆1，通过坐标转换过去估计值和瞬时临时值中的至少一个来符合二维地板倾斜度的过去估计值和瞬时临时值的坐标系，二维地板倾斜，使用车辆1的方位或其变化率。此后，通过使用过去估计值和二维楼层倾斜度的瞬时临时值计算加权平均值或低通滤波器值来计算二维楼层倾斜度的新估计值。

72. 发明授权

US08014896B2 Legged mobile robot and control program 有权
标题翻译：有腿的移动机器人和控制程序
公开(公告)号：US08014896B2
公开(公告)日：2011-09-06
申请号：US11577404
申请日：2005-09-14
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
IPC分类号： G06F19/00 , B25J5/00
CPC分类号： B62D57/032
摘要： In a legged mobile robot, a pivoting motion of a foot (22) relative to a leg is controlled such that, from an intermediate time point in a period of departure of a leg from a floor to a starting time point of a period of landing of the leg on the floor, an angle (θ) of inclination of the foot (22) of the leg relative to the floor surface gradually approaches zero. This eases impact to the foot of the leg at the time of landing on the floor and prevents a slip or spin of the sole, thereby enabling stable walking or running.
摘要翻译：在有腿的移动机器人中，脚部（22）相对于腿部的枢转运动被控制，使得从腿部离开地板的时间段到落地时间段的起始时间点的中间时间点腿部在地板上的脚部（22）相对于地板表面的倾斜角度（θ）渐渐接近零。这样在脚底落地时可以减轻腿脚的冲击，防止鞋底的滑动或旋转，从而稳定地行走或跑步。

73. 发明授权

US07860613B2 Legged mobile robot and control program for the robot 有权
标题翻译：用于机器人的腿式移动机器人和控制程序
公开(公告)号：US07860613B2
公开(公告)日：2010-12-28
申请号：US11718054
申请日：2005-09-14
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
IPC分类号： B25J5/00
CPC分类号： B62D57/032
摘要： A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided.According to a robot 1 in accordance with the present invention, a deformation amount (mechanism deformation amount) of a compliance mechanism 42 that occurs due to a desired floor reaction force of a foot (ground contacting portion) 22 is determined, and the operation of a leg 2 is controlled such that the foot 22 lands onto a floor at a predetermined velocity in a vertical direction or in a direction perpendicular to the floor surface on the basis of a component of the mechanism deformation amount in the vertical direction or a component thereof in the direction perpendicular to the floor surface.
摘要翻译：提供了一种腿式移动机器人，其允许将实际地板反作用力改进到期望的地板反作用力并且可以被稳定地控制。根据本发明的机器人1，确定由于脚（地面接触部）22的期望的地面反作用力而发生的顺应机构42的变形量（机械变形量），并且操作控制腿部2，使得脚部22基于垂直方向上的机构变形量的分量或其部分，以垂直方向或垂直于地板表面的方向以预定速度落在地板上在垂直于地板表面的方向上。

74. 发明申请

US20080046123A1 Legged Mobile Robot and Control Program 有权
标题翻译：有腿的移动机器人和控制程序
公开(公告)号：US20080046123A1
公开(公告)日：2008-02-21
申请号：US11577404
申请日：2005-09-14
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
IPC分类号： B62D57/032 , G06N3/00
CPC分类号： B62D57/032
摘要： In a legged mobile robot, a pivoting motion of a foot (22) relative to a leg is controlled such that, from an intermediate time point in a period of departure of a leg from a floor to a starting time point of a period of landing of the leg on the floor, an angle (θ) of inclination of the foot (22) of the leg relative to the floor surface gradually approaches zero. This eases impact to the foot of the leg at the time of landing on the floor and prevents a slip or spin of the sole, thereby enabling stable walking or running.
摘要翻译：在有腿的移动机器人中，脚部（22）相对于腿部的枢转运动被控制，使得从腿部离开地板的时间段到落地时间段的起始时间点的中间时间点腿部在地板上的脚部（22）相对于地板表面的倾斜角（θ）逐渐接近零。这样在脚底落地时可以减轻腿脚的冲击，防止鞋底的滑动或旋转，从而稳定地行走或跑步。

75. 发明授权

US08460154B2 Frictional drive device and inverted pendulum type vehicle using the same 有权
标题翻译：摩擦驱动装置和倒立摆式车辆使用它
公开(公告)号：US08460154B2
公开(公告)日：2013-06-11
申请号：US12884328
申请日：2010-09-17
申请人： Hiroshi Gomi , Toru Takenaka , Kazuya Kuwabara
发明人： Hiroshi Gomi , Toru Takenaka , Kazuya Kuwabara
IPC分类号： F16H13/10
CPC分类号： B60B19/125 , B60B9/06 , B60B9/10 , B60B19/003 , B60B2200/47 , B60B2310/305 , B60B2310/56 , B60B2360/10 , B60B2360/50 , B60B2380/12 , B60B2900/131 , B60L11/1805 , Y02T10/646 , Y02T10/7005
摘要： In a frictional drive device comprising a pair of drive disks (48) rotatably supported by a frame (10) around a central axial line (A) in a mutually opposing relationship, a pair of motors (64) supported by the frame for individually rotatively actuating the drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk at a regular interval and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (84, 110) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86, 111) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member, a resiliency is incorporated either in the main wheel or in the drive rollers so that a relatively large number of driven rollers can be simultaneously engaged by the drive rollers and, hence, a relative high drive efficiency can be maintained even when the axial center of the annular member and the axial center of the drive disks are offset from each other.
摘要翻译：在一种摩擦驱动装置中，包括一对以相互相对的关系围绕中心轴线（A）由框架（10）可旋转地支撑的一对驱动盘（48），一对电动机（64）由框架支撑以单独地旋转致动驱动盘，多个驱动辊（56），其沿着每个驱动盘的外周排列成规则间隔，并且每个驱动辊具有旋转中心线，以便能够沿着不平行于或不垂直于中心的平面旋转轴线和环形主轮（84,110），其相对于所述中心轴线大致同轴地设置并与所述驱动盘的驱动辊接合，所述主轮包括环形构件（86,111）和多个驱动辊（92）沿着环形构件被支撑以能够围绕环形构件的切线旋转，弹性被并入主轮或驱动辊中，使得相对大的数量从动辊可以同时被驱动辊接合，因此即使当环形构件的轴向中心和驱动盘的轴向中心彼此偏移时，也能够维持相对高的驱动效率。

76. 发明申请

US20120175175A1 INVERTED PENDULUM TYPE VEHICLE 有权
标题翻译：逆变式车型
公开(公告)号：US20120175175A1
公开(公告)日：2012-07-12
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： B60K1/00 , B62D61/00
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。

77. 发明申请

US20060249314A1 Leg type mobile robot 有权
标题翻译：腿式移动机器人
公开(公告)号：US20060249314A1
公开(公告)日：2006-11-09
申请号：US10544305
申请日：2005-04-28
申请人： Toru Takenaka , Keizo Matsumoto , Hiroshi Gomi , Kazushi Hamaya
发明人： Toru Takenaka , Keizo Matsumoto , Hiroshi Gomi , Kazushi Hamaya
IPC分类号： B62D51/06
CPC分类号： F16F1/44 , B25J19/0091 , B62D57/032 , F16F3/12
摘要： A leg type mobile robot (R) including an body (R2), legs (R1) each connected to the body (R2) via a first joint (12, 13), and foots (R17) each connected to an end part of the leg part (R1) via a second joint (15, 16), the foot (17) including a foot portion (61) having a lower end part having a ground area (64, 66) grounded on a floor surface, the foot portion (61) including a plate spring part (62) supporting empty weight while bending at the time of being grounded.
摘要翻译：一种腿型移动机器人（R），其包括主体（R 2），经由第一接头（12,13）连接到主体（R 2）的腿部（R 1）和每个连接到主体通过第二接头（15,16）的脚部（R 1）的端部，脚部（17）包括具有底部部分（61）的脚部（61），底部部分具有接地区域（64,66）表面，所述脚部（61）包括在接地时弯曲时支撑空重的板弹簧部（62）。

78. 发明授权

US06332372B1 Arm structure for man type working robots 有权
标题翻译：人型工作机器人臂结构
公开(公告)号：US06332372B1
公开(公告)日：2001-12-25
申请号：US09581220
申请日：2000-06-22
申请人： Toru Takenaka , Takayuki Kawai , Tadaaki Hasegawa , Takashi Matsumoto , Hiroshi Gomi , Hideaki Takahashi
发明人： Toru Takenaka , Takayuki Kawai , Tadaaki Hasegawa , Takashi Matsumoto , Hiroshi Gomi , Hideaki Takahashi
IPC分类号： B25J906
CPC分类号： B25J9/06 , B25J17/025 , Y10T74/20329
摘要： An arm structure for anthropomorphic robots minimizes the occurrence of a singularity state of a shoulder joint assembly while the arm of the anthropomorphic robot is normally working, for thereby allowing the arm to operate smoothly. The position and posture of first through third joints (11), (13), (15) of a shoulder joint assembly (5) and the position of an elbow joint assembly (6) with respect to the third joint (15) are established such that the elbow joint assembly (6) is located above a horizontal plane lying through the point of intersection of the axes (10), (12), (14) of the first through third joints (11), (13), (15), while the shoulder joint assembly (5) is operated into a singularity state wherein the first axis (10) of the first joint (11) and the third axis (14) of the third joint (15) are aligned with each other and the elbow joint assembly (6) is positioned laterally of a torso (1).
摘要翻译：用于拟人机器人的臂结构使人形机器人的臂正常工作时，使肩关节组件的奇点状态的发生最小化，从而允许手臂平稳地操作。建立肩关节组件（5）的第一至第三关节（11），（13），（15）和肘关节组件（6）相对于第三关节（15）的位置和姿势使得肘关节组件（6）位于通过第一至第三关节（11），（13），（13），（13）的轴线（10），（12），（14） 15），而肩关节组件（5）被操作成其中第一关节（11）的第一轴线（10）和第三关节（15）的第三轴线（14）彼此对准的奇点状态并且肘关节组件（6）位于躯干（1）的侧面。

79. 发明授权

US06401846B1 Knee pad for a legged walking robot 有权
标题翻译：用于腿式步行机器人的膝垫
公开(公告)号：US06401846B1
公开(公告)日：2002-06-11
申请号：US09630743
申请日：2000-08-02
申请人： Toru Takenaka , Takayuki Kawai , Hiroshi Gomi , Tadaaki Hasegawa , Takashi Matsumoto
发明人： Toru Takenaka , Takayuki Kawai , Hiroshi Gomi , Tadaaki Hasegawa , Takashi Matsumoto
IPC分类号： B62D5702
CPC分类号： B62D57/032 , B25J19/0091
摘要： In a biped walking robot having a body and two articulated legs each connected to the body through a hip joint and having a knee joint and an ankle joint, connected by a shank link, a knee pad is mounted on the shank link as a landing/shock absorbing means at a position adjacent to the knee joint which is brought into contact with the floor when coming into knee-first contact with the floor such that the knee joint is to be positioned at a location forward of the center of gravity of the robot in a direction of robot advance, while absorbing impact occurring from the contact with the floor. With this, the robot can be easily stood up from an attitude with its knee joint regions in contact with the floor. Moreover, when coming into knee-first contact with the floor, it can absorb the impact of the contact to protect the knee joint regions and the floor from damage.
摘要翻译：在具有主体和两个铰接腿的双足步行机器人中，每个腿部通过髋关节连接到身体，并且具有通过柄连杆连接的膝关节和踝关节，膝关节垫作为着陆/ 冲击吸收装置位于与膝关节相邻的位置处，当与地板进行膝盖 - 第一次接触时，其与地板接触，使得膝关节位于机器人重心的前方位置在机器人前进的方向上，同时吸收与地板接触发生的冲击。这样，机器人可以容易地从与膝盖接合区域与地板接触的姿态站起来。此外，当与地板进行膝盖首次接触时，它可以吸收接触的冲击，以保护膝关节区域和地板免受损坏。

80. 发明授权

US07600591B2 Leg type mobile robot 有权
标题翻译：腿式移动机器人
公开(公告)号：US07600591B2
公开(公告)日：2009-10-13
申请号：US10544305
申请日：2005-04-28
申请人： Toru Takenaka , Keizo Matsumoto , Hiroshi Gomi , Kazushi Hamaya
发明人： Toru Takenaka , Keizo Matsumoto , Hiroshi Gomi , Kazushi Hamaya
IPC分类号： B25J5/00
CPC分类号： F16F1/44 , B25J19/0091 , B62D57/032 , F16F3/12
摘要： A leg type mobile robot (R) including an body (R2), legs (R1) each connected to the body (R2) via a first joint (12, 13), and foots (R17) each connected to an end part of the leg part (R1) via a second joint (15, 16), the foot (17) including a foot portion (61) having a lower end part having a ground area (64, 66) grounded on a floor surface, the foot portion (61) including a plate spring part (62) supporting empty weight while bending at the time of being grounded.
摘要翻译：一种腿型移动机器人（R），其包括主体（R2），经由第一接头（12,13）连接到主体（R2）的腿部（R1）和每个连接到主体的端部的脚部，腿部（R1）经由第二接头（15,16），脚部（17）包括脚部（61），脚部（61）具有接地区域（64,66）的下端部，（61）包括在接地时弯曲时支撑空重的板弹簧部分（62）。

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