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1. 发明申请

US20090223728A1 WHEELED INVERTED PENDULUM MOBILE UNIT 有权
标题翻译：车轮倒立移动单元
公开(公告)号：US20090223728A1
公开(公告)日：2009-09-10
申请号：US12398549
申请日：2009-03-05
申请人： Mitsuo KOIDE , Kazutoshi Sukigara , Yuji Tsusaka , Takashi Izuo , Masaaki Yamaoka , Koji Yamada
发明人： Mitsuo KOIDE , Kazutoshi Sukigara , Yuji Tsusaka , Takashi Izuo , Masaaki Yamaoka , Koji Yamada
IPC分类号： B60K28/16
CPC分类号： G05D1/0891
摘要： A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.
摘要翻译：具有：驱动轮的轮式倒立摆移动单元; 相对于垂直方向围绕所述驱动轮的轴可倾斜的主体; 多个支撑构件，其从所述主体沿垂直方向向下延伸，其中，所述多个支撑构件的底端与所述驱动轮的车轴前后的地面接触，并且所述底端上下移动相对于身体，当身体相对于垂直方向倾斜时; 以及锁定机构，其相对于主体锁定支撑构件的底端的位置。

2. 发明授权

US07076440B2 Business processing system employing a notice board business system database and method of processing the same 失效
标题翻译：业务处理系统采用通知板业务系统数据库和处理方法
公开(公告)号：US07076440B2
公开(公告)日：2006-07-11
申请号：US09798947
申请日：2001-03-06
申请人： Masato Tamaki , Yuji Tsusaka , Naofumi Hosoda , Eiji Takamatsu , Makoto Ogawa , Akiko Nagayama
发明人： Masato Tamaki , Yuji Tsusaka , Naofumi Hosoda , Eiji Takamatsu , Makoto Ogawa , Akiko Nagayama
IPC分类号： G06F17/60
CPC分类号： G06Q10/10 , G06Q10/06311 , G06Q10/06316
摘要： A notice board business system database stores therein collectively the contents of all the data heads relating to a series of business processes, and is held in common in the form of a notice board through clients by all the related persons in charge of the tasks. A status change rule sets the data head in which the data input should be completed with respect to each of the task processes. A status watcher refers to both the notice board business system database and the status change rule to make the task process change from the current task process to the next task process when the predetermined data input has been completed in the process in task so as to inform the related client of that the status change has occurred. In addition, the status watcher refers to a status change limit rule for setting the data input completion due date for each of the task processes so as to inform, when the processing due date is drawing near, the related client of that the processing due date is drawing near.
摘要翻译：公告板业务系统数据库共同存储与一系列业务流程相关的所有数据头的内容，并由负责任务的所有相关人员通过客户的形式通知客户。状态更改规则设置相对于每个任务进程完成数据输入的数据头。状态观察者指的是通知板业务系统数据库和状态变化规则，以使任务过程从当前任务过程改变到下一个任务过程，当预定数据输入在任务过程中完成时，通知相关客户发生了状态变更。此外，状态观察者参照用于设定每个任务处理的数据输入完成截止日期的状态变更限制规则，以便在处理到期日期近的情况下通知处理到期日的相关客户正在画近。

3. 发明授权

US08151912B2 Wheeled inverted pendulum mobile unit 有权
标题翻译：轮式倒立摆机构
公开(公告)号：US08151912B2
公开(公告)日：2012-04-10
申请号：US12398549
申请日：2009-03-05
申请人： Mitsuo Koide , Kazutoshi Sukigara , Yuji Tsusaka , Takashi Izuo , Masaaki Yamaoka , Koji Yamada
发明人： Mitsuo Koide , Kazutoshi Sukigara , Yuji Tsusaka , Takashi Izuo , Masaaki Yamaoka , Koji Yamada
IPC分类号： B62D61/00
CPC分类号： G05D1/0891
摘要： A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.
摘要翻译：具有：驱动轮的轮式倒立摆移动单元; 相对于垂直方向围绕所述驱动轮的轴可倾斜的主体; 多个支撑构件，其从所述主体沿垂直方向向下延伸，其中，所述多个支撑构件的底端与所述驱动轮的车轴前后的地面接触，并且所述底端上下移动相对于身体，当身体相对于垂直方向倾斜时; 以及锁定机构，其相对于主体锁定支撑构件的底端的位置。

4. 发明授权

US07378812B2 Legged robot and legged robot walking control method 失效
标题翻译：腿式机器人和腿式机器人步行控制方法
公开(公告)号：US07378812B2
公开(公告)日：2008-05-27
申请号：US10587544
申请日：2005-01-26
申请人： Takashi Yamamoto , Hisayoshi Sugihara , Keisuke Suga , Yuji Tsusaka , Ryosuke Tajima
发明人： Takashi Yamamoto , Hisayoshi Sugihara , Keisuke Suga , Yuji Tsusaka , Ryosuke Tajima
IPC分类号： B25J5/00
CPC分类号： B62D57/032
摘要： A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means 210 for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means 210 for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means 218, 220 for detecting an actual torso motion, deviation calculation means 312 for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means 308 for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means 306 for correcting the target torso gait data based on the determined correction quantity.
摘要翻译：公开了一种腿式机器人和腿式机器人步行控制方法，其能够在腿尖处没有力传感器的情况下稳定行走。本发明的腿式机器人包括躯干，腿部连杆，其可摆动地连接到躯干上;存储装置210，用于存储描述目标腿尖运动的时间序列变化的腿尖步态数据;存储装置210，用于存储描述目标躯干运动的时间序列变化的躯干步态数据，其实现了目标腿尖运动变化之后的目标ZMP，用于检测实际躯干运动的躯干运动检测装置218,220，用于计算的偏差计算装置312 实际的躯干运动与目标躯干运动的偏差，用于基于规定的传递函数从计算出的偏差确定校正量的校正量计算装置308以及基于所确定的校正来校正目标躯干步态数据的校正装置306 数量。

5. 发明申请

US20070241713A1 Legged Robot and Legged Robot Walking Control Method 失效
标题翻译：有腿机器人和腿式机器人步行控制方法
公开(公告)号：US20070241713A1
公开(公告)日：2007-10-18
申请号：US10587544
申请日：2005-01-26
申请人： Takashi Yamamoto , Hisayoshi Sugihara , Keisuke Suga , Yuji Tsusaka , Ryosuke Tajima
发明人： Takashi Yamamoto , Hisayoshi Sugihara , Keisuke Suga , Yuji Tsusaka , Ryosuke Tajima
IPC分类号： B25J5/00 , G06F19/00
CPC分类号： B62D57/032
摘要： A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means 210 for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means 210 for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means 218, 220 for detecting an actual torso motion, deviation calculation means 312 for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means 308 for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means 306 for correcting the target torso gait data based on the determined correction quantity.
摘要翻译：公开了一种腿式机器人和腿式机器人步行控制方法，其能够在腿尖处没有力传感器的情况下稳定行走。本发明的腿式机器人包括躯干，腿部连杆，其可摆动地连接到躯干上;存储装置210，用于存储描述目标腿尖运动的时间序列变化的腿尖步态数据;存储装置210，用于存储描述目标躯干运动的时间序列变化的躯干步态数据，其实现了目标腿尖运动变化之后的目标ZMP，用于检测实际躯干运动的躯干运动检测装置218,220，用于计算的偏差计算装置312 实际的躯干运动与目标躯干运动的偏差，用于基于规定的传递函数从计算出的偏差确定校正量的校正量计算装置308以及基于所确定的校正来校正目标躯干步态数据的校正装置306 数量。

6. 发明授权

US06275809B1 Business processing system employing a notice board business system database and method of processing the same 失效
标题翻译：业务处理系统采用通知板业务系统数据库和处理方法
公开(公告)号：US06275809B1
公开(公告)日：2001-08-14
申请号：US08856280
申请日：1997-05-14
申请人： Masato Tamaki , Yuji Tsusaka , Naofumi Hosoda , Eiji Takamatsu , Makoto Ogawa , Akiko Nagayama
发明人： Masato Tamaki , Yuji Tsusaka , Naofumi Hosoda , Eiji Takamatsu , Makoto Ogawa , Akiko Nagayama
IPC分类号： G06F1530
CPC分类号： G06Q10/10 , G06Q10/06311 , G06Q10/06316
摘要： A notice board business system database stores therein collectively the contents of all the data heads relating to a series of business processes, and is held in common in the form of a notice board through clients by all the related persons in charge of the tasks. A status change rule sets the data head in which the data input should be completed with respect to each of the task processes. A status watcher refers to both the notice board business system database and the status change rule to make the task process change from the current task process to the next task process when the predetermined data input has been completed in the process in task so as to inform the related client of that the status change has occurred. In addition, the status watcher refers to a status change limit rule for setting the data input completion due date for each of the task processes so as to inform, when the processing due date is drawing near, the related client of that the processing due date is drawing near.
摘要翻译：公告板业务系统数据库共同存储与一系列业务流程相关的所有数据头的内容，并由负责任务的所有相关人员通过客户的形式通知客户。状态更改规则设置相对于每个任务进程完成数据输入的数据头。状态观察者指的是通知板业务系统数据库和状态变化规则，以使任务过程从当前任务过程改变到下一个任务过程，当预定数据输入在任务过程中完成时，通知相关客户发生了状态变更。此外，状态观察者参照用于设定每个任务处理的数据输入完成截止日期的状态变更限制规则，以便在处理到期日期近的情况下通知处理到期日的相关客户正在画近。

7. 发明授权

US07615956B2 Robot 有权
公开(公告)号：US07615956B2
公开(公告)日：2009-11-10
申请号：US11658089
申请日：2005-07-22
申请人： Yuji Tsusaka
发明人： Yuji Tsusaka
IPC分类号： B25J9/02
CPC分类号： B25J9/1045 , A63H11/18 , A63H2200/00 , B62D57/032
摘要： A robot, wherein the operating amounts of the first and second actuators are adjusted according to a torque necessary for maintaining a body member and an end member at specified angles in a mechanism in which the body member (361) and the end member (363) are rotatably connected to each other and first and second wires (366) connected to the end member are advanced and retreated by the first and second actuator (368).

8. 发明申请

US20090001919A1 Robot 有权
标题翻译：机器人
公开(公告)号：US20090001919A1
公开(公告)日：2009-01-01
申请号：US11658089
申请日：2005-07-22
申请人： Yuji Tsusaka
发明人： Yuji Tsusaka
IPC分类号： B25J5/00 , G05B19/04
CPC分类号： B25J9/1045 , A63H11/18 , A63H2200/00 , B62D57/032
摘要： A robot, wherein the operating amounts of the first and second actuators are adjusted according to a torque necessary for maintaining a body member and an end member at specified angles in a mechanism in which the body member (361) and the end member (363) are rotatably connected to each other and first and second wires (366) connected to the end member are advanced and retreated by the first and second actuator (368).
摘要翻译：一种机器人，其中，在主体部件（361）和端部部件（363）的机构中，根据用于将主体部件和端部部件保持特定角度所需的扭矩来调节第一和第二致动器的操作量，连接到端部构件的第一和第二导线（366）由第一和第二致动器（368）前进和后退。

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