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81. 发明授权

US4234858A Voltage controlled oscillator with phase control circuits 失效
标题翻译：带相控电路的压控振荡器
公开(公告)号：US4234858A
公开(公告)日：1980-11-18
申请号：US923643
申请日：1978-07-11
申请人： Hiroshi Gomi
发明人： Hiroshi Gomi
IPC分类号： H03B5/36 , H04N9/455 , H04N9/535
CPC分类号： H03B5/366 , H04N9/455
摘要： A tank circuit including a quartz vibrator and a phase shifter connected to the tank circuit for forming a vector signal e.sub.1 from the tank circuit and a vector signal e.sub.2 delayed a predetermined angle from the signal e.sub.1. A differential circuit is used to subtract e.sub.1 from e.sub.2 thus forming a difference signal e.sub.3. The delayed signal e.sub.2 is inverted by a phase inverting circuit to obtain two signals e.sub.2 and -e.sub.2 which are applied to an addition circuit where their relative amplitude ratio is controlled. The addition circuit adds signal e.sub.3 to the signals e.sub.2 and e.sub.3 whose relative amplitude ratio has been controlled for producing a sum signal which is fed back to the tank circuit.
摘要翻译：包括石英振子和移相器的振荡电路，其连接到用于从振荡电路形成矢量信号e1的振荡电路，以及从信号e1延迟预定角度的矢量信号e2。使用差分电路从e2中减去e1，从而形成差分信号e3。延迟信号e2由相位反转电路反相，以获得施加到其相对振幅比被控制的加法电路的两个信号e2和-e2。加法电路将信号e3加到信号e2和e3上，信号e2和e3的相对幅度比已被控制，以产生反馈到储能电路的和信号。

82. 发明授权

US4227205A Hue and saturation control circuitry requiring single coupling capacitor 失效
标题翻译：色相和饱和度控制电路需要单耦合电容
公开(公告)号：US4227205A
公开(公告)日：1980-10-07
申请号：US842323
申请日：1977-10-14
申请人： Hiroshi Gomi
发明人： Hiroshi Gomi
IPC分类号： H03G3/02 , H03H11/20 , H04J3/00 , H04N9/45 , H04N9/455 , H04N9/64 , H04N9/66 , H04N9/68 , H04N9/535
CPC分类号： H04N9/643 , H04N9/455
摘要： A signal-processing circuit comprises a first gate circuit, a chrominance signal amplifier, a hue control circuit, means for reproducing a composite color signal, an AC coupling capacitor, and a second gate circuit. The first gate circuit receives a composite color signal consisting of chrominance signals and burst signals which are arranged alternately and then extracts the chrominance signals and burst signals from the composite color signal. The extracted chrominance signal is amplified by the chrominance signal amplifier, while the phase of the extracted burst signal is controlled by the hue control circuit. The outputs of the chrominance signal amplifier and the hue control circuit are added by said reproducing means, thereby reproducing a composite color signal. The AC coupling capacitor is coupled to the output of said means. The second gate circuit extracts from the output of the AC coupling capacitor chrominance signals and burst signals.
摘要翻译：信号处理电路包括第一门电路，色度信号放大器，色调控制电路，再现复合彩色信号的装置，交流耦合电容器和第二门电路。第一门电路接收由交替布置的色度信号和突发信号组成的复合颜色信号，然后从复合颜色信号中提取色度信号和突发信号。提取的色度信号由色度信号放大器放大，而提取的色同步信号的相位由色调控制电路控制。色度信号放大器和色调控制电路的输出由所述再现装置相加，从而再现复合颜色信号。 AC耦合电容耦合到所述装置的输出。第二门电路从AC耦合电容的色度信号和突发信号的输出中提取出来。

83. 发明授权

US4118741A Hue adjusting circuits 失效
标题翻译：色调调节电路
公开(公告)号：US4118741A
公开(公告)日：1978-10-03
申请号：US769784
申请日：1977-02-17
申请人： Hiroshi Gomi , Shinichiro Taguchi
发明人： Hiroshi Gomi , Shinichiro Taguchi
IPC分类号： H04N9/64 , H04N9/50 , H04N9/535
CPC分类号： H04N9/643
摘要： In a circuit for processing a chroma signal the chroma signal is applied to a demodulator through a first phase shifter. The burst signal is applied to an automatic phase adjusting circuit including a phase detection circuit and a voltage-controlled oscillator. The output of the phase adjusting circuit is applied to a hue adjusting circuit including a second phase shifter and a mixing circuit connected to receive the output of the phase adjusting circuit and the output of the second phase shifter. A control voltage is applied to the mixing circuit for controlling the relative amplitude of the two inputs applied to the mixing circuit. The output of the hue adjusting circuit is applied to the demodulator to act as the subcarrier signal for demodulating the chroma signal. The first and second phase shifters are each comprised of a resistor and a capacitor and formed on the same integrated circuit semiconductor substrate.
摘要翻译：在用于处理色度信号的电路中，色度信号通过第一移相器施加到解调器。突发信号被施加到包括相位检测电路和压控振荡器的自动相位调整电路。相位调整电路的输出被施加到包括第二移相器和混合电路的色调调整电路，该混合电路被连接以接收相位调整电路的输出和第二移相器的输出。控制电压被施加到混合电路，用于控制施加到混合电路的两个输入的相对幅度。色调调整电路的输出应用于解调器，作为解调色度信号的副载波信号。第一和第二移相器各自包括电阻器和电容器，并形成在同一集成电路半导体衬底上。

84. 发明授权

US08403083B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08403083B2
公开(公告)日：2013-03-26
申请号：US12883624
申请日：2010-09-16
申请人： Hironori Waita , Kazushi Hamaya , Hiroshi Gomi
发明人： Hironori Waita , Kazushi Hamaya , Hiroshi Gomi
IPC分类号： B62K1/00 , B62J1/04 , B62J1/08
CPC分类号： B62K1/00 , B62K11/007
摘要： In a vehicle (1) including a frame (2) incorporated with a drive unit (3) for enabling the frame to travel in a prescribed direction and a seat assembly (4) supported by the frame and including a pair of saddle members (63) defining a pair of seat surfaces (70A), respectively, configured to jointly support buttocks of a vehicle occupant, the saddle members are resiliently supported by the frame in such a manner that the seat surface of each saddle member is in an approximately horizontal orientation but is progressively tilted inward with a downward movement of the saddle member under a load of a vehicle occupant. Thus, one of the saddle members receiving a greater load than the other tilts downward toward the center of the vehicle, and this causes the vehicle occupant to be urged toward the saddle member receiving a smaller load so that the vehicle occupant is automatically urged toward the center of the vehicle, and hence the gravitational center of the vehicle occupant may be placed in the center of the vehicle at all times.
摘要翻译：一种车辆（1），包括：框架（2），其结合有用于使框架能够沿规定方向行进的驱动单元（3）;以及座椅组件（4），其由框架支撑并且包括一对鞍座构件）分别限定一对座位表面（70A），其分别构造成联合地支撑车辆乘员的臀部，所述鞍座构件被框架弹性地支撑，使得每个鞍座构件的座面处于大致水平的方向但是随着车辆乘员的负载下的鞍部件的向下运动而逐渐向内倾斜。因此，承受比另一个更大的负载的鞍形构件中的一个朝向车辆的中心向下倾斜，并且这导致车辆乘员被迫向接收较小负载的鞍形构件施力，使得车辆乘员被自动地朝向车辆的中心，因此车辆乘员的重力中心总是可以放置在车辆的中心。

85. 发明申请

US20110288681A1 FIVE-FINGERED HAND DEVICE 有权
标题翻译：五手指装置
公开(公告)号：US20110288681A1
公开(公告)日：2011-11-24
申请号：US13146093
申请日：2010-05-07
申请人： Masato Hayakawa , Kazuyuki Takahashi , Hironori Waita , Hiroshi Gomi
发明人： Masato Hayakawa , Kazuyuki Takahashi , Hironori Waita , Hiroshi Gomi
IPC分类号： B25J15/08 , B25J9/14
CPC分类号： B25J15/0009
摘要： A five-fingered hand device suitably applicable to a humanoid robot is provided. The device includes a hand body (2) which has a base (4) and five finger mechanisms (5) to (9), a drive unit (3) which drives the finger mechanisms, and a control unit (36) which controls bending and stretching of the finger mechanisms. The drive unit (3) has driven fluid pressure cylinders provided inside the hand body (2) and driving fluid pressure cylinders (37) provided outside the hand body (2), the driven fluid pressure cylinders being connected to the driving fluid pressure cylinders via fluid pressure transmission pipes (45).
摘要翻译：提供适用于人形机器人的五指手装置。该装置包括具有基座（4）和五个指状机构（5）至（9）的手柄（2），驱动手指机构的驱动单元（3），以及控制单元（36），其控制弯曲以及手指机构的伸展。驱动单元（3）驱动设置在手柄（2）内部的流体压力缸和设置在手柄（2）外部的驱动流体压力缸（37），被驱动流体压力缸经驱动流体压力缸经由流体压力传输管道（45）。

86. 发明申请

US20080203955A1 Legged Mobile Robot 有权
标题翻译：有腿的移动机器人
公开(公告)号：US20080203955A1
公开(公告)日：2008-08-28
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： B62D57/032 , B25J9/00
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。

87. 发明授权

US06564888B1 Biped mobile robot 失效
标题翻译： Biped移动机器人
公开(公告)号：US06564888B1
公开(公告)日：2003-05-20
申请号：US09630742
申请日：2000-08-02
申请人： Hiroshi Gomi , Kazushi Hamaya , Takashi Matsumoto
发明人： Hiroshi Gomi , Kazushi Hamaya , Takashi Matsumoto
IPC分类号： B62D5702
CPC分类号： B62D57/032
摘要： In a biped mobile robot having at least a body and two leg links connected to the body, a parallel linkage is provided between the body and the two leg links such that each of the two leg links are movable relative to the body in a direction of the gravity axis. More specifically, the parallel linkage is composed of upper and lower links and right and left links each connected to the upper and lower links, and the body is connected to the upper and lower links through first and second fulcrums, while the two leg links are each connected to the right and left links. An actuator is provided at the second fulcrum to move the two leg links relative to the body in the gravity axis. Moreover, the body is connected to the parallel linkage through a joint such that the body is movable relative to the two leg links around the gravity axis. With this, the robot can effectively absorb and mitigate footfall impact, offer a high degree of freedom in gait design, thereby enabling rapid, energy-efficient locomotion in a stable attitude, and permit free body movement.
摘要翻译：在具有连接到身体的至少一个主体和两个腿部连杆的两足动物机器人中，在主体和两个腿部连杆之间设置有平行的连杆，使得两个腿部连杆中的每一个可相对于主体沿着重力轴。更具体地说，平行连杆由上，下连杆和左右连杆组成，每个连杆分别连接到上连杆和下连杆，主体通过第一和第二支点连接到上连杆和下连杆，而两个连杆是每个连接到右侧和左侧的链接。致动器设置在第二支点处，以在重力轴线上相对于主体移动两条腿连杆。此外，主体通过接头连接到平行连杆，使得主体相对于围绕重力轴线的两个腿部连杆是可移动的。这样，机器人可以有效吸收和减轻脚步冲击，提供步态设计的高度自由度，从而以稳定的态度实现快速，节能的运动，并允许自由的身体运动。

88. 发明授权

US5445235A Legged mobile robot equipped with impact absorber 失效
标题翻译：有腿的移动机器人配备了减震器
公开(公告)号：US5445235A
公开(公告)日：1995-08-29
申请号：US67314
申请日：1993-05-26
申请人： Hiroshi Gomi , Masao Nishikawa , Masato Hirose , Hideaki Takahashi , Takashi Matsumoto
发明人： Hiroshi Gomi , Masao Nishikawa , Masato Hirose , Hideaki Takahashi , Takashi Matsumoto
IPC分类号： B25J19/00 , B25J19/06 , B60R21/34 , B62D57/02
CPC分类号： B60R21/34 , B25J19/0075 , B25J19/06 , B62D57/02
摘要： An impact absorber for a legged mobile robot having a body and two legs each connected to the body for absorbing impact arising when the robot collides with pipes or other objects in its walking environment so as to protect both the robot and the object. In a first embodiment, the impact absorber comprises a balloon disposed around the body and filled with air. When the balloon comes into contact with the object, it is deflated so as to absorb impact arising from the contact. In a second embodiment, the impact absorber comprises a cylinder fixed to the robot leg and a piston slidably disposed in the cylinder so as to define a chamber filled with an oil. A flat member is fixed to the rod of the piston and when it comes into contact with the object, the piston is thrust into the cylinder so as to absorb the impact. The impact absorber may be a resilient material coating on the robot to cushion the impact when the robot comes into contact with the object, or it may include air bags.
摘要翻译：一种用于腿式移动机器人的冲击吸收器，其具有主体和两个腿，每个腿连接到主体，用于吸收机器人在其行走环境中与管道或其他物体碰撞时产生的冲击，以保护机器人和物体。在第一实施例中，冲击吸收器包括设置在身体周围并充满空气的球囊。当气球与物体接触时，它被放气以吸收由接触引起的冲击。在第二实施例中，冲击吸收器包括固定到机器人腿部的圆柱体和可滑动地设置在气缸中以便限定填充有油的腔室的活塞。平面构件固定在活塞杆上，当与物体接触时，活塞被推入气缸中以吸收冲击。冲击吸收器可以是机器人上的弹性材料涂层，以在机器人与物体接触时缓冲冲击，或者其可以包括气囊。

89. 发明授权

US5258680A Armature winding structure for electric motors 失效
标题翻译：电动机电枢绕组结构
公开(公告)号：US5258680A
公开(公告)日：1993-11-02
申请号：US897106
申请日：1992-06-11
申请人： Tadanobu Takahashi , Hiroshi Gomi , Masato Hirose , Masao Nishikawa , Masaru Ozawa , Takashi Hotta
发明人： Tadanobu Takahashi , Hiroshi Gomi , Masato Hirose , Masao Nishikawa , Masaru Ozawa , Takashi Hotta
IPC分类号： H02K3/04 , H02K3/28 , H02K15/04 , H02K23/26 , H02K3/14
CPC分类号： H02K3/04 , H02K15/0478
摘要： An armature winding structure for use in an electric motor includes a web-shaped strand bundle composed of a plurality of parallel strands. The strand bundle has a plurality of longitudinally spaced bends and a plurality of straight strand bundle segments. Adjacent ones of the strand bundle segments are positioned one on each side of one of the bends. The strand bundle segments are transversely staggered on one side of the strand bundle successively from one end to the other of the strand bundle, by intervals each substantially equal to the width of the strand bundle. The strand bundle segments thus staggered are longitudinally folded over along fold lines extending respectively across or near the bends transversely of the strand bundle, thereby providing a plate-like winding in which the strand bundle segments lie adjacent to one another.

90. 发明授权

US5255753A Foot structure for legged walking robot 失效
标题翻译：腿式步行机器人脚部结构
公开(公告)号：US5255753A
公开(公告)日：1993-10-26
申请号：US887240
申请日：1992-05-19
申请人： Masao Nishikawa , Tomoharu Kumagai , Shoei Abe , Masato Hirose , Mitsuaki Hirakawa , Hiroshi Gomi
发明人： Masao Nishikawa , Tomoharu Kumagai , Shoei Abe , Masato Hirose , Mitsuaki Hirakawa , Hiroshi Gomi
IPC分类号： B62D57/02 , B62D57/032
CPC分类号： B62D57/02
摘要： A legged walking robot such as a two-legged walking robot has a plurality of movable legs and a plurality of foot soles mounted respectively on distal ends of the movable legs by respective foot joints. Each of the foot soles has a curved surface disposed on at least a portion of a peripheral edge thereof. The curved surface is shaped such that the foot joint follows a predetermined curved path along a forward direction in which the legged walking robot walks. The foot sole also includes at least one projection on one or each of leading and trailing ends of the foot sole in the forward direction. The projection is movable into and out of a projecting position from the foot sole, but is normally urged into the projecting position to support the foot sole stably on the terrain.
摘要翻译：诸如双腿行走机器人的腿式步行机器人具有多个可移动的腿和分别通过各自的脚关节安装在可动腿的远端上的多个脚底。每个脚底具有设置在其周缘的至少一部分上的曲面。弯曲表面被成形为使得脚部接合沿着腿式步行机器人行走的向前方向沿着预定的弯曲路径。足底还包括在脚前沿的前后方向的前端和后端的一个或每个上的至少一个突起。突起可以从脚底移动进出突出位置，但是通常被推入突出位置以稳定地支撑脚踏板在地形上。

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