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1. 发明申请

US20090200090A1 Multiple-point grounding type foot portion supporting mechanism, biped walking robot equipped with the same, and control structrure therefor 审中-公开
标题翻译：多点接地型脚部支撑机构，配备相同的两足步行机器人及其控制结构
公开(公告)号：US20090200090A1
公开(公告)日：2009-08-13
申请号：US11630784
申请日：2005-07-28
申请人： Atsuo Takanishi , Kenji Hashimoto , Akihiro Ohta , Takuya Hosobata , Yusuke Sugahara , Yutaka Mikuriya , Masamiki Kawase , Hiroyuki Sunazuka , Chiaki Tanaka , Yoichi Takamoto , Katsuyuki Baba , Shigeaki Ino
发明人： Atsuo Takanishi , Kenji Hashimoto , Akihiro Ohta , Takuya Hosobata , Yusuke Sugahara , Yutaka Mikuriya , Masamiki Kawase , Hiroyuki Sunazuka , Chiaki Tanaka , Yoichi Takamoto , Katsuyuki Baba , Shigeaki Ino
IPC分类号： B62D57/032 , B25J5/00 , B25J13/08
CPC分类号： B25J13/085 , B25J19/0004
摘要： The present invention provides a multiple-point grounding type foot portion supporting mechanism having excellent reliability, in which the respective supporting points passively follow unevenness of the grounding surface such as a road surface, and which is capable of quickly supporting foot bottoms at polygonal points and preventing falling over even on a grounding surface having level differences by fixing the supporting points when all supporting points are grounded. The multiple-point grounding type foot portion supporting mechanism includes: base portions each disposed on the foot bottom of the foot portion of a walking robot; three or more foot bottom supporting portions each having its one end part disposed and protruding downward from the bottom face of the base portion, each of which independently moves upward when being grounded and is slidably or rotatably supported; grounding sensors each disposed at the base portion or the foot bottom supporting portion, which detect grounding of the respective foot bottom supporting portions; and lock mechanisms disposed at the base portion, which control and brake the movements of all foot bottom supporting portions when the grounding sensors detect grounding of all foot bottom supporting portions.
摘要翻译：本发明提供一种具有优异的可靠性的多点接地型脚部支撑机构，其中各个支撑点被动地跟随诸如路面的接地面的不平坦，并且能够在多边形点处快速地支撑脚底部，当所有支撑点接地时，通过固定支撑点来防止甚至在具有电平差的接地表面上落下。多点接地型脚部支撑机构包括：各自设置在步行机器人的脚部的脚底部的基部; 三个或更多个脚底部支撑部分，每个底部支撑部分的一个端部从基部的底面设置并向下突出，每个底部支撑部分在接地时独立地向上移动并且可滑动或可旋转地支撑; 接地传感器，每个接地传感器设置在基部或底部底部支撑部分处，其检测相应的脚底支撑部分的接地; 以及设置在基部的锁定机构，当接地传感器检测到所有脚底支撑部分的接地时，其控制和制动所有脚底支撑部分的运动。

2. 发明申请

US20060235571A1 Access control system in radio lan system 审中-公开
标题翻译：无线局域网系统中的门禁系统
公开(公告)号：US20060235571A1
公开(公告)日：2006-10-19
申请号：US10567087
申请日：2003-09-12
申请人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
发明人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： E04F13/04 , A61L27/18 , A61L27/58 , A61L2430/32 , B25J9/123 , B25J17/0216 , B25J18/025 , B25J19/0004 , F16H25/2454 , C08L67/04
摘要： It is an object of the present invention to provide a linear motion link device capable of reducing a load applied to an actuator and capable of saving consumption of power and a bipedal walking robot provided therewith. Therefore, this is why the linear motion link device is held and locked by a holding brake so as not to telescope during the stop of the actuator. The linear motion link device of the present invention is constituted so as to include an actuator (28) and a holding brake (30) which holds and locks a movable portion (41) of the actuator (28) and to freely telescope in a longitudinal direction of the linear motion link device (1) by driving of the actuator (28). Further, a bipedal walking robot of the present invention has a constitution that the linear motion link device (1) having the holding brake (30) which holds and locks the movable portion (41) of the actuator (28) is provided.
摘要翻译：本发明的目的是提供一种线性运动连杆装置，其能够减轻施加在致动器上的负荷并且能够节省电力消耗，并且能够提供与此相应的双足行走机器人。因此，这就是为什么线性运动连杆装置被保持制动器保持和锁定，以便在致动器停止期间不能望远镜。本发明的直线运动连杆装置构成为包括致动器（28）和保持制动器（30），该保持制动器保持并锁定致动器（28）的可动部分（41）并且可纵向自由地望远镜通过致动器（28）的驱动，线性运动连杆装置（1）的方向。此外，本发明的双足步行机器人具有如下构造：具有保持并锁定致动器（28）的可动部（41）的保持制动器（30）的直线运动连杆装置（1）。

3. 发明申请

US20080150465A1 Lower Half Body Module of Bipedal Walking Robot 有权
标题翻译：双脚行走机器人的下半身模块
公开(公告)号：US20080150465A1
公开(公告)日：2008-06-26
申请号：US10567086
申请日：2003-09-12
申请人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
发明人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J17/0216
摘要： It is an object of the present invention to provide a lower half body module of a bipedal walking robot which is excellent in practicality in the point that it is possible to transport a heavy load, and which is excellent in the degree of freedom in designing in the point that it is possible to mount or incorporate an upper half body having a large weight. Therefore, this is why legs of the lower half body module are constituted by a parallel link mechanism to sustain a large load. The lower half body module (1) of the present invention includes a base (2), aright foot (3) and a left foot (4), a plurality of passive joints (6, 7, 8) which are respectively provided on the base (2), the right foot (3) and the left foot (4), and parallel link mechanism portions (1a, 1b) which are respectively provided between the passive joint (6) provided on the base (2) and the passive joints (7, 8) provided on the right foot (3) and between the passive joint (6) provided on the base (2) and the passive joints (7, 8) provided on the left foot (4).
摘要翻译：本发明的目的是提供一种双足步行机器人的下半身模块，其实用性优异，可以运输重载，并且设计自由度优异可以安装或结合具有大重量的上半身的点。因此，这就是为什么下半体模块的腿部由平行连杆机构构成以维持大的负荷的原因。本发明的下半体模块（1）包括基座（2），脚踏脚（3）和左脚（4），多个被动接头（6,7,8）分别设置在分别设置在设置在基座（2）上的被动接头（6）和基座（2）之间的平行连杆机构部分（1a，1b）和平行连杆机构部分（1a，1b）设置在右脚（3）上的被动关节（7,8）和设置在基座（2）上的被动关节（6）和设置在左脚（4）上的被动关节（7,8）之间。

4. 发明授权

US07498758B2 Lower half body module of bipedal walking robot 有权
标题翻译：双足步行机器人的下半身模块
公开(公告)号：US07498758B2
公开(公告)日：2009-03-03
申请号：US10567086
申请日：2003-09-12
申请人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
发明人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J17/0216
摘要： It is an object of the present invention to provide a lower half body module of a bipedal walking robot which is excellent in practicality in the point that it is possible to transport a heavy load, and which is excellent in the degree of freedom in designing in the point that it is possible to mount or incorporate an upper half body having a large weight. Therefore, this is why legs of the lower half body module are constituted by a parallel link mechanism to sustain a large load. The lower half body module (1) of the present invention includes a base (2), a right foot (3) and a left foot (4), a plurality of passive joints (6, 7, 8) which are respectively provided on the base (2), the right foot (3) and the left foot (4), and parallel link mechanism portions (1a, 1b) which are respectively provided between the passive joint (6) provided on the base (2) and the passive joints (7, 8) provided on the right foot (3) and between the passive joint (6) provided on the base (2) and the passive joints (7, 8) provided on the left foot (4).
摘要翻译：本发明的目的是提供一种双足步行机器人的下半身模块，其实用性优异，可以运输重载，并且设计自由度优异可以安装或结合具有大重量的上半身的点。因此，这就是为什么下半体模块的腿部由平行连杆机构构成以维持大的负荷的原因。本发明的下半体模块（1）包括基座（2），右脚（3）和左脚（4），多个被动接头（6,7,8）分别设置在分别设置在设置在基座（2）的被动接头（6）和基座（2），右脚部（3）和左脚部（4）之间的平行连杆机构部（1a，1b）设置在右脚（3）上的被动接头（7,8）和设置在基座（2）上的被动接头（6）和设置在左脚（4）上的被动接头（7,8）之间。

5. 发明授权

US07598695B2 Quadruped walking robot 失效
标题翻译：四足步行机器人
公开(公告)号：US07598695B2
公开(公告)日：2009-10-06
申请号：US11579448
申请日：2005-03-30
申请人： Atsuo Takanishi , Yoichi Takamoto , Katsuyuki Baba , Hideki Nishizawa
发明人： Atsuo Takanishi , Yoichi Takamoto , Katsuyuki Baba , Hideki Nishizawa
IPC分类号： B62D57/032 , B25J17/00
CPC分类号： B25J9/1065 , B25J19/0091 , B62D57/032
摘要： A quadruped walking robot, comprising a body part having a horizontal swing part, a horizontal swing drive part, an upper side upper leg part pivotally supported on the horizontal swing part, a lower side upper leg part disposed parallel with the lower part of the upper side upper leg part, an upper leg rotatingly driving part rotatingly driving the upper side upper leg part, a lower leg part having an upper end part to which the tip part of the upper side upper leg part and the tip part of the lower side upper leg part are pivotally connected on the upper and lower sides, and ground-contact part disposed at the lower end part of the lower leg part, and an elastic extensible part disposed at the middle part of the lower side upper leg part and elastically extending/retracting in the longitudinal direction.
摘要翻译：一种四足步行机器人，包括具有水平摆动部分的主体部分，水平摆动驱动部分，枢转地支撑在水平摆动部分上的上侧上腿部分，与上部的下部平行设置的下侧上腿部分旋转地驱动上侧上腿部的上腿旋转驱动部，具有上端部的上下端部的下腿部，上侧部分的上侧腿部的前端部和下侧上腿部的前端部上部脚部在上下两侧枢转连接，接地部设置在下腿部的下端部，弹性伸缩部设置在下侧上腿部的中部，弹性伸长/ 沿纵向缩回。

6. 发明申请

US20080252247A1 Quadruped Walking Robot 失效
标题翻译：四足步行机器人
公开(公告)号：US20080252247A1
公开(公告)日：2008-10-16
申请号：US11579448
申请日：2005-03-30
申请人： Atsuo Takanishi , Yoichi Takamoto , Katsuyuki Baba , Hideki Nishizawa
发明人： Atsuo Takanishi , Yoichi Takamoto , Katsuyuki Baba , Hideki Nishizawa
IPC分类号： B62D57/032
CPC分类号： B25J9/1065 , B25J19/0091 , B62D57/032
摘要： The present invention provides a quadruped walking robot the production costs and weight of which can be reduced by reducing the number of driving portions, and which is capable of carrying out stabilized walking motions even with the degree of freedom reduced in the leg portions.A quadruped walking robot 1 according to the present invention comprises: a horizontal swivel portion 4 disposed so as to freely swivel in the horizontal direction in the main body portion 2; a horizontal swivel driving portion 5 for driving and turning the horizontal swivel portion 4 in the horizontal direction; an upper side upper leg portion 9 rotatably axially attached in the horizontal swivel portion 4 so as to freely turn in the vertical direction; a lower side upper leg portion 11 disposed roughly parallel to the lower part of the upper side upper leg portion 9; an upper leg driving and turning portion 10 for driving and turning the upper side upper leg portion 9 in the vertical direction; a lower leg portion 13 in which the distal end part of the upper side upper leg portion 9 and the distal end part of the lower side upper leg portion 11 are axially supported vertically at the upper end portion; and a grounding portion 17 disposed at the lower end portion of the lower leg portion 13; and a resilient extension and contraction portion 12, disposed at an intermediate portion of the lower side upper leg portion 11, which resiliently extends and contracts in the lengthwise direction.
摘要翻译：本发明提供一种四足步行机器人，其生产成本和重量可以通过减少驱动部分的数量来减少，并且即使在腿部的自由度减小的情况下也能够执行稳定的步行动作。根据本发明的四足步行机器人1包括：设置成在主体部分2中沿水平方向自由旋转的水平旋转部分4; 用于在水平方向上驱动和转动水平旋转部分4的水平旋转驱动部分5; 可旋转地轴向安装在水平旋转部分4中以便在垂直方向上自由转动的上侧上腿部分9; 大致平行于上侧上腿部9的下部设置的下侧大腿部11; 用于在上下方向驱动和转动上侧上腿部9的上腿驱动转动部10; 上腿部分9的前端部分和下侧上腿部分11的远端部分在上端部垂直轴向支撑的小腿部分13; 以及设置在小腿部13的下端部的接地部17; 以及设置在下侧上腿部11的中间部分处的沿长度方向弹性伸缩的弹性伸缩部12。

7. 发明申请

US20060293786A1 Robot system and remote operation system of robot 审中-公开
标题翻译：机器人系统和远程操作系统
公开(公告)号：US20060293786A1
公开(公告)日：2006-12-28
申请号：US10566707
申请日：2003-08-21
申请人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Yasunari Motoki , Masao Mori , Keiichi Kido , Yuichi Arimura , Tadayoshi Furuya , Mitsuru Soeda , Toshinori Suehiro
发明人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Yasunari Motoki , Masao Mori , Keiichi Kido , Yuichi Arimura , Tadayoshi Furuya , Mitsuru Soeda , Toshinori Suehiro
IPC分类号： G06F19/00
CPC分类号： B25J5/007 , A62C27/00 , B25J9/1674
摘要： The invention provides a robot apparatus not requiring any incidental equipment in a building since an autonomous behavior is enabled, and capable of coping with abnormal phenomena. The robot apparatus includes means (112) for judging an autonomous mode or an autonomous/remote collaboration mode, means (113) for executing an autonomous motion when the mode judging means judges that the mode is an autonomous mode, means (117) for judging the collaboration ratio when the mode judging means judges that the mode is an autonomous/remote collaboration mode, means (118) for executing a complete remote motion when the judged collaboration ratio is 100% remote, and means (119) for executing an autonomous/remote collaboration motion when the judged collaboration ratio is not 100% remote.
摘要翻译：本发明提供了一种机器人装置，其不需要建筑物中的任何附带设备，因为能够进行自主行为，并且能够应付异常现象。机器人装置包括用于判断自主模式或自主/远程协作模式的装置（112），当模式判断装置判断模式是自主模式时，执行自主动作的装置（113）当所述模式判断装置判断出所述模式是自主/远程协作模式时，所述协同比率，当所述判断的协作率为100％远程时用于执行完整的远程运动的装置（118），以及用于执行自主/远程协作模式的装置（119）远程协作运动当判断协作比例不是100％远程时。

8. 发明申请

US20060212168A1 Robot remote control system 审中-公开
标题翻译：机器人遥控系统
公开(公告)号：US20060212168A1
公开(公告)日：2006-09-21
申请号：US10550258
申请日：2003-06-12
申请人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto
发明人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto
IPC分类号： G06F19/00
CPC分类号： B25J9/1689 , B25J3/04 , B25J5/005 , B25J9/0087 , B25J13/02 , G05B2219/40174
摘要： An object of the invention is to provide a remote control system for robot in which a remotely controlled robot apparatus is capable of carrying out skillful movement and movement for removing a heavy load. A robot remote control apparatus 1 includes a remote instruction unit 4 for generating control data for the robot apparatus 2, a first computer unit for inputting and processing the control data, and a first mobile transmission unit for transmitting the control data to a base station 19 connected to a public transmission network 20; the robot apparatus 2 includes a second mobile transmission unit for receiving the control data transmitted from the base station 21 connected to the public transmission network 20 and a second computer unit for processing the control data and controlling a mechanism portion 10; the mechanism portion includes one or two heavy-load working arms, one or two light-load working arms, and a traveling system, all of which are controlled by the second computer unit; and the second computer unit controls the one or two heavy-load working arms, the one or two light-load working arms and the traveling system on the basis of the control data for the robot apparatus 2.
摘要翻译：本发明的目的是提供一种用于机器人的远程控制系统，其中远程控制的机器人装置能够执行熟练的移动和移动以去除重负载。机器人遥控装置1包括用于生成机器人装置2的控制数据的遥控指示单元4，用于输入和处理控制数据的第一计算机单元和用于将控制数据发送到基站19的第一移动发送单元连接到公共传输网络20; 机器人装置2包括：第二移动发送单元，用于接收从连接到公共传输网络20的基站21发送的控制数据;以及第二计算机单元，用于处理控制数据并控制机构部分10; 机构部分包括一个或两个重负载工作臂，一个或两个轻负载工作臂和行进系统，所有这些都由第二计算机单元控制; 并且第二计算机单元基于机器人装置2的控制数据来控制一个或两个重负载工作臂，一个或两个轻负载工作臂和行进系统。

9. 发明申请

US20060185858A1 Fire-fighting robot 有权
标题翻译：消防机器人
公开(公告)号：US20060185858A1
公开(公告)日：2006-08-24
申请号：US10566706
申请日：2003-08-21
申请人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Yasunari Motoki , Masao Mori , Keiichi Kido , Yuichi Arimura
发明人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Yasunari Motoki , Masao Mori , Keiichi Kido , Yuichi Arimura
IPC分类号： A62C27/00
CPC分类号： A62C27/00 , A62C37/00 , B25J5/00 , B25J11/00
摘要： Provided is a fire-fighting robot that can quickly start to fight a fire occurring at a hazardous location, which firefighters cannot access, and extinguish fires occurring at any location without receiving a supply of fire extinguishing water. The fire-fighting robot (1) of the present invention is self-propelled and remote-controlled via wireless or mobile communications to fight a fire. The robot includes one or more fire extinguisher storage portions (24a, 24b) for storing fire extinguishers (24c, 24d) which provide a jet of a fire-fighting agent from a jet outlet (26) by depressing a lever, a jet control portion disposed in the fire extinguisher storage portion (24a, 24b) for depressing the lever, and a jet outlet securing portion (26a) for detachably securing the jet outlet (26) of the fire extinguisher (24c, 24d).
摘要翻译：提供了一种消防机器人，可以迅速开始在危险场所发生的火灾，消防员不能进入，并且在没有接收到灭火水的情况下熄灭任何地方发生的火灾。本发明的消防机器人（1）通过无线或移动通信进行自推进和远程控制以防火。机器人包括一个或多个灭火器存储部分（24a，24b），用于储存通过按压杆从喷射出口（26）提供灭火剂的喷射的灭火器（24c，24d）设置在用于按压杆的灭火器收纳部（24a，24b）中的喷射控制部以及用于可拆卸地固定灭火器（24c）的喷射出口（26）的喷射出口固定部（26a） 24 d）。

10. 发明授权

US06650966B1 Robot remote controlling apparatus and robot apparatus 有权
标题翻译：机器人遥控装置和机器人装置
公开(公告)号：US06650966B1
公开(公告)日：2003-11-18
申请号：US10136532
申请日：2002-05-02
申请人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto
发明人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto
IPC分类号： G06F1900
CPC分类号： B25J13/02 , B25J3/04 , B25J9/1689 , G05B2219/33192 , G05B2219/40154
摘要： The invention has an object to provide a robot remote controlling apparatus that can easily and comfortably carry out operations at the finger portion operating portion and arm portion operating portion and can easily and comfortably carry out operations at other parts than at the above-described operating portions. The robot remote controlling apparatus includes a rack 30 that accommodates said computer apparatus excluding a display 24 and an input device 28, and at the same time, that mounts the display 24; an up and down moving arm 20 that is rotatably disposed on said rack and whose tip end portion 20b can move up and down; a supporting section 10 rotatably disposed on said tip end portion, which detects a turning angle with respect to said tip end portion as a left and right turning angle of a head portion, and detects a turning angle of a roller 14a disposed on the upper surface thereof as an up and down turning angle of the head portion, and in which said input device 28 is disposed at the front side thereof, and said left and right upper limb portion operating portions 11 are disposed at the left and right sides thereof; and an independent box-shaped leg operating section 70 on which said fuselage operating portion is disposed.
摘要翻译：本发明的目的是提供一种机器人远程控制装置，其能够容易且舒适地在手指部操作部和手臂部操作部进行操作，并且可以容易且舒适地在除了上述操作部分之外的其它部分执行操作。机器人远程控制装置包括容纳除了显示器24和输入装置28之外的所述计算机装置的机架30，并且同时安装显示器24; 可旋转地设置在所述齿条上并且其末端部分20b可上下移动的上下移动臂20; 可旋转地设置在所述前端部上的支撑部分10，其检测相对于所述前端部分的转动角度作为头部的左右转动角度，并且检测设置在所述上表面上的辊14a的转动角度作为头部的上下转动角，并且其中所述输入装置28设置在其前侧，并且所述左右上肢部操作部11设置在其左侧和右侧; 以及设置有机身操作部的独立的箱形腿部操作部70。

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