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71. 发明申请

US20110260523A1 FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME 有权
标题翻译：使用相同的摩擦驱动装置和OMNI-DIRECTIVE VEHICLE
公开(公告)号：US20110260523A1
公开(公告)日：2011-10-27
申请号：US13127347
申请日：2009-11-02
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi , Hiroshi Gomi , Masao Sasaki
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Shinichiro Kobashi , Hiroshi Gomi , Masao Sasaki
IPC分类号： B60B19/14 , B60B19/00
CPC分类号： B60B19/125 , B60B19/003 , B60B19/14 , B60B2200/47 , B60B2360/102 , B60B2360/104 , B60B2360/32 , B60B2360/324 , B60B2360/50 , B60Y2200/40 , B62K1/00 , B62K11/007 , B62M6/40
摘要： In a friction drive device comprising first free rollers and second free rollers contacting each other at the outer circumferential surfaces thereof to frictionally transmit power from the second free rollers to the first free rollers, in order to minimize the slippage between the first and second free rollers, minimize the power loss and cause the first free rollers to move as designed, an outer peripheral part of each first free roller defining an outer circumferential surface thereof has a different stiffness from that of an outer peripheral part of each second free roller defining an outer circumferential surface thereof.
摘要翻译：在包括第一自由辊和第二自由辊的摩擦驱动装置中，所述第二自由辊和第二自由辊在其外圆周表面处彼此接触以将动力从第二自由辊摩擦传递到第一自由辊，以便最小化第一和第二自由辊之间的滑动使功率损失最小化并且使得第一自由辊按设计移动，每个第一自由辊的限定其外圆周表面的外周部分具有与限定外部的每个第二自由辊的外周部分的刚度不同的刚度圆周表面。

72. 发明授权

US07860611B2 Control device for legged mobile robot 有权
标题翻译：腿式移动机器人控制装置
公开(公告)号：US07860611B2
公开(公告)日：2010-12-28
申请号：US12603116
申请日：2009-10-21
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00 , B62D57/032 , B62D57/00 , B62D57/02 , B62D57/024 , B25J13/00 , B25J5/00 , G05B13/02
CPC分类号： B62D57/032
摘要： On the basis of at least a difference between a desired state amount related to a posture of a robot 1 about a vertical axis or a floor surface normal line axis and an actual state amount of the robot 1 and a permissible range of a restriction object amount, namely, a vertical component of a floor reaction force moment or a component of the floor reaction force moment in a floor surface normal line direction to be applied to the robot 1, instantaneous values of a desired motion and a desired floor reaction force are determined such that a difference between a floor reaction force moment balancing with the desired motion on a dynamic model and a floor reaction force moment of the desired floor reaction force approximates the aforesaid difference to zero, while having the restriction object amount, which is associated with the desired floor reaction force, fall within the permissible range.
摘要翻译：基于与机器人1的纵轴或地面法线方向的姿势有关的期望状态量与机器人1的实际状态量之间的差异以及限制对象量的容许范围即，施加到机器人1的地板反射力矩或地板反射力矩的分量的垂直分量，期望运动的瞬时值和期望的地面反作用力被确定使得在动态模型上的平衡反作用力平衡与期望的运动之间的差异与期望的地面反作用力的地板反力力矩之间的差值近似于上述差为零，同时具有与所需的地面反作用力，落在容许范围内。

73. 发明授权

US07702442B2 Control device for vehicle 有权
标题翻译：车辆控制装置
公开(公告)号：US07702442B2
公开(公告)日：2010-04-20
申请号：US11572606
申请日：2005-08-04
申请人： Toru Takenaka
发明人： Toru Takenaka
IPC分类号： A01B69/00
CPC分类号： B60T8/1755 , B60G17/0195 , B60W10/20 , B60W40/064 , B60W40/068 , B60W40/10 , B60W2050/0028 , B62D6/003 , B62D6/008
摘要： A control device for a vehicle is equipped with a vehicle model motion determining device for determining a motion of a vehicle (a vehicle model motion) on a vehicle model expressing the dynamic characteristics of a vehicle on the basis of drive manipulated variables, such as an angle of steering by a driver, and a state amount error reaction control device for determining control inputs to an actuator control device of the actual vehicle and the vehicle model motion determining device according to a feedback law on the basis of a difference between a state amount of a vehicle model motion (model state amounts, such as a position or a posture of a vehicle) and a state amount of a motion of the actual vehicle 1 (a state amount error). Based on a state amount error, not only a motion of an actual vehicle but also a vehicle model motion is manipulated, thereby enhancing robustness against disturbance factors or their changes while conducting actuator operation control that is suited to a behavior of the actual vehicle as much as possible.
摘要翻译：车辆的控制装置配备有车辆模型运动判定装置，其用于基于驾驶操作变量来确定车辆模型（车辆模型运动），该车辆模型表示车辆的动态特性，例如驾驶员的转向角度以及状态量误差反应控制装置，根据反馈规律，根据反馈规律判定对实际车辆的致动器控制装置的控制输入和车辆模型运动判定装置的状态量车辆模型运动（模型状态量，例如车辆的位置或姿势）和实际车辆1的运动的状态量（状态量误差）。基于状态量误差，不仅操纵实际车辆的运动而且操纵车辆模型运动，从而在执行适合于实际车辆的行为的致动器操作控制时增强对干扰因素或其变化的鲁棒性尽可能。

74. 发明授权

US07487011B2 Gait generation device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的步态生成装置
公开(公告)号：US07487011B2
公开(公告)日：2009-02-03
申请号：US10499936
申请日：2002-12-26
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G05B19/04 , G05B19/18 , G06F19/00
CPC分类号： B62D57/032 , B62D57/02
摘要： An allowable ranges of a horizontal component of the translation floor reaction or a floor-surface-parallel component of the translation floor reaction force of a legged mobile robot 1 or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot 1 (hereinafter referred to as a friction force component) is set, and a provisional movement of the robot 1 is determined so as to satisfy a predetermined dynamical equilibrium condition. When the friction force component determined by this provisional movement departs from the allowable range, a rate of change of an angular momentum around the center of gravity of the robot 1 is changed from the provisional movement so as to satisfy the dynamical equilibrium condition while limiting the friction force component within the allowable range to thereby determine a movement of a desired gait. Consequently, not only walking of the robot 1 but also running thereof can be performed properly, and a gait that does not cause slippage is generated.
摘要翻译：平移台面反应的水平分量的允许范围或有腿可移动机器人1的平移平面反作用力的地面平行部分或总重心加速度或地板表面的水平分量设定机器人1的全重心加速度的平行分量（以下称为摩擦力分量），并且确定机器人1的临时运动以满足预定的动态平衡条件。当由该临时移动确定的摩擦力分量偏离允许范围时，围绕机器人1的重心的角动量的变化率从临时运动改变以满足动态平衡条件，同时限制摩擦力分量在允许范围内，从而确定期望步态的移动。因此，不仅可以适当地进行机器人1的行走，还可以进行行走，并且产生不产生滑动的步态。

75. 发明申请

US20080210477A1 Leg Joint Assist Device of Legged Mobile Robot 失效
标题翻译：腿式移动机器人的腿部关节辅助装置
公开(公告)号：US20080210477A1
公开(公告)日：2008-09-04
申请号：US11575545
申请日：2005-08-17
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Shinya Shirokura , Minami Asatani , Katsushi Tanaka
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Shinya Shirokura , Minami Asatani , Katsushi Tanaka
IPC分类号： B62D51/04 , F16C11/00
CPC分类号： B62D57/032 , B25J19/0012 , Y10T403/32606
摘要： An assist device 11 is equipped with a spring means 21 (gas spring), and a piston 24 in a cylinder 23 moves upward or downward according to a relative displacement motion (flexing or stretching motion) of a thigh 4 and a crus 5 at a knee joint 8 of a leg 3 of a robot. Air chambers 25 and 26 above and below the piston 24 are filled with gases. If a flexing degree at the knee joint 8 is a predetermined value or less, then the air chambers 25 and 26 are brought into communication through a groove 28 in the cylinder 23, and the spring means 21 does not generate an elastic force, but if the flexing degree exceeds the predetermined value, then the air chambers 25 and 26 are hermetically sealed from each other and the spring means 21 produces an elastic force, the elastic force acting on the knee joint 8 as assisting driving force. A burden on a joint actuator of a leg can be reduced, while reducing energy consumption of the robot by using a small and simple construction. Moreover, a change in the characteristics of an assisting driving force of the spring means 21 in response to a flexing degree of the knee joint 8 can be restrained.
摘要翻译：辅助装置11配备有弹簧装置21（气弹簧），并且气缸23中的活塞24根据大腿4和小腿5的相对位移运动（弯曲或拉伸运动）向上或向下移动机器人腿3的膝关节8。在活塞24上方和下方的气室25和26充满气体。如果膝关节8的弯曲度为规定值以下，则气室25,26通过气缸23内的槽28连通，弹簧装置21不产生弹性力，但如果挠曲度超过预定值，则空气室25和26彼此气密地密封，并且弹簧装置21产生作为辅助驱动力的作用在膝关节8上的弹力。通过使用小而简单的结构，能够减轻腿的联合执行器的负担，同时减少机器人的能量消耗。此外，可以抑制响应于膝关节8的弯曲程度的弹簧装置21的辅助驱动力的特性的变化。

76. 发明申请

US20080154165A1 Body Weight Support Device and Body Weight Support Program 有权
标题翻译：体重支持装置和体重支持计划
公开(公告)号：US20080154165A1
公开(公告)日：2008-06-26
申请号：US11794339
申请日：2005-08-11
申请人： Jun Ashihara , Yosuke Endo , Yutaka Hiki , Toru Takenaka
发明人： Jun Ashihara , Yosuke Endo , Yutaka Hiki , Toru Takenaka
IPC分类号： A61F5/00 , A61F2/48
CPC分类号： B25J9/0006 , A61F5/0102 , A61H1/0255 , A61H1/0262 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/1607 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1652 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5069
摘要： A body weight support device of the present invention is equipped with a body attachment part attached to a user's body, a floor contact part provided contactably on a floor, a leg link part for connecting the body attachment part to the floor contact part through a joint part, an actuator for driving the joint part, and a control unit for controlling a drive of the actuator, wherein the control unit drives the actuator so that the leg link part gives a body weight support force to the user through the body attachment part.
摘要翻译：本发明的体重支撑装置配备有安装在使用者身上的身体安装部，与地板接触地设置的地板接触部，通过接合部将身体安装部连接到地板接触部的腿部连接部部件，用于驱动接合部的致动器，以及用于控制致动器的驱动的控制单元，其中，控制单元驱动致动器，使得腿连杆部通过身体安装部向使用者给出体重支撑力。

77. 发明申请

US20080147237A1 Gait Generator for Mobile Robot 有权
标题翻译：移动机器人步态发生器
公开(公告)号：US20080147237A1
公开(公告)日：2008-06-19
申请号：US10597653
申请日：2005-02-16
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G05B19/18 , B25J5/00 , B25J13/04
CPC分类号： B62D57/032
摘要： When gait parameters for specifying a gait to be generated of a mobile robot (1) are determined, the values of the priority parameters of the gait parameters are updated from the values of the priority gait parameters of predetermined base gait parameters such that the priority parameters approach and reach the original required values step by step. For every update, out of non-priority parameters other than the priority ones, the parameters to be sought are determined by seeking so that the parameters may satisfy the gait boundary condition on the dynamic model of the robot (1). Thus, the new gait parameters including the determined parameters and the updated priority parameters are determined. Lastly, the gate of the mobile robot (1) is generated using dynamic model and the new gait parameters determined when the priority parameters are made to agree with the requested value.
摘要翻译：当确定用于指定要移动机器人（1）生成的步态的步态参数时，根据预定基准步态参数的优先步态参数的值更新步态参数的优先级参数的值，使得优先级参数并逐步达到原始要求的值。对于每个更新，除了优先级以外的非优先级参数，通过寻求来确定要寻求的参数，使得参数可以满足机器人（1）的动态模型上的步态边界条件。因此，确定包括确定的参数和更新的优先级参数的新步态参数。最后，使用动态模型生成移动机器人（1）的门，并且当使优先级参数与所请求的值一致时确定新的步态参数。

78. 发明授权

US07319918B2 Gait generation device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的步态生成装置
公开(公告)号：US07319918B2
公开(公告)日：2008-01-15
申请号：US10499935
申请日：2002-12-27
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： A gait generation device for setting a translation floor reaction force's horizontal component (component concerning a friction force) applied to a robot 1, a limitation-target quantity, such as a ZMP, and an allowable range, for determining at least a provisional instantaneous value of a desired floor reaction force and a provisional instantaneous value for a desired movement of the robot 1, that receives at least the provisional instantaneous value for the desired movement and determines a model floor reaction force instantaneous value with the aid of a dynamics model. Based on the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of the desired floor reaction force or the allowable range of the limitation-target quantity, the provisional instantaneous value for the desired movement is corrected so that the limitation-target quantity falls within the allowable range and a dynamical equilibrium condition on the dynamics model is satisfied, thereby determining a desired instantaneous value.
摘要翻译：一种用于设置平移反作用力的应用于机器人1的水平分量（关于摩擦力的分量）的步态生成装置，诸如ZMP的限制目标量和允许范围，用于至少确定临时瞬时值具有期望的地面反作用力和用于机器人1的期望运动的临时瞬时值，其至少接收用于期望运动的临时瞬时值，并且借助于动力学模型来确定模型楼层反作用力瞬时值。基于模型楼层反作用力瞬时值与期望地板反作用力的临时瞬时值或限制目标量的允许范围之间的差异，校正期望移动的临时瞬时值，使得限制目标数量在允许范围内，动态模型的动力学平衡条件得到满足，从而确定所需的瞬时值。

79. 发明授权

US07319917B2 Gait generation device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的步态生成装置
公开(公告)号：US07319917B2
公开(公告)日：2008-01-15
申请号：US10499516
申请日：2002-12-26
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 , B62D57/02
摘要： A gait generation device for generating a desired gait which includes floating periods in which all the legs 2, 2 of a legged mobile robot 1 float in the air and landing periods in which at least one leg 2 is in contact with a floor which appear alternately generates the desired gait in such a manner that, at least when shifting from the floating period to the landing period, the velocity of an end portion 22 of a landing leg with respect to the floor and the acceleration thereof with respect to the floor is substantially 0 at the instant of landing. After both the velocity of the end portion of the leg with respect to the floor and the acceleration thereof with respect to the floor are determined to be substantially 0, a movement of the body of the robot with the desired gait is determined in such a manner that the horizontal component of a moment produced about the desired ZMP by the resultant force of gravity and an inertial force applied to the robot 1 is substantially 0. This eliminates the landing impact.
摘要翻译：一种用于产生期望的步态的步态生成装置，其包括浮动周期，其中腿式可移动机器人1的所有腿部2,2在空中漂浮，并且着陆期间中至少一个腿部2与交替出现的地板接触产生期望的步态，使得至少在从浮动周期转移到着陆阶段时，着陆腿相对于地板的端部22的速度和相对于地板的加速度基本上是 0在登陆的时刻。在腿部相对于地面的端部的速度和相对于地板的加速度被确定为大致为零之后，以这种方式确定机器人的主体以期望的步态的移动通过合成重力和施加到机器人1的惯性力围绕期望的ZMP产生的力矩的水平分量基本为0.这消除了着陆冲击。

80. 发明申请

US20070168080A1 Gait generating system for mobile robot 有权
标题翻译：移动机器人步态生成系统
公开(公告)号：US20070168080A1
公开(公告)日：2007-07-19
申请号：US10597732
申请日：2005-02-16
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： A gait generating system for a mobile robot has n dynamic models and determines a first gait parameter defining a desired gait such that the boundary condition of a gait on a first dynamic model is satisfied. The first gait parameter is corrected step by step by using an m-th dynamic model (m: integer satisfying 2≦m≦n), which is each dynamic model other than the first dynamic model, and an m-th gait parameter that satisfies the boundary condition on the m-th dynamic model is determined. The m-th gait parameter is determined by correcting an object of an (m−1)th gait parameter to be corrected on the basis of the degree of deviation of the gait generated on the m-th dynamic model by using the (m−1)th gait parameter from the boundary condition. A final determined n-th gait parameter and an n-th dynamic model are used to generate a desired gait.
摘要翻译：用于移动机器人的步态生成系统具有n个动态模型，并且确定定义期望步态的第一步态参数，使得满足第一动态模型上的步态的边界条件。第一个步态参数通过使用第m个动态模型（m：满足2 <= m <= n）的整数，其是除第一动态模型之外的每个动态模型，以及第m步态参数确定满足第m个动态模型的边界条件。通过使用（m-）步态参数，通过基于在第m动态模型上产生的步态的偏离程度来校正要校正的第（m-1）步态参数的对象来确定第m步态参数， 1）步态参数从边界条件。使用最终确定的第n步态参数和第n动态模型来产生期望的步态。

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