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    • 1. 发明授权
    • Non-reciprocal circuit device
    • 不可逆电路装置
    • US07978018B2
    • 2011-07-12
    • US12372164
    • 2009-02-17
    • Takayuki FurutaHiroshi OkazakiShoichi Narahashi
    • Takayuki FurutaHiroshi OkazakiShoichi Narahashi
    • H01P1/38
    • H01P1/383
    • A non-reciprocal circuit device comprising a magnetic plate F1; center conductors L1, L2, and L3 that are mutually insulated and disposed so as to intersect on magnetic plate F1; a plane conductor P1 that is disposed facing the center conductors with magnetic plate F1 placed therebetween, the plane conductor being connected to first ends of all the center conductors; matching capacitors C1 to C3 that have first ends grounded electrically and second ends connected to second ends of the center conductors; first matching circuits that have first ends connected to the second ends of the center conductors and second ends that are input/output ports; and a second matching circuit that has a first end connected to or integrated with the plane conductor and a second end grounded electrically.
    • 一种包括磁性板F1的不可逆电路装置; 中心导体L1,L2和L3相互绝缘并设置成与磁板F1相交; 平面导体P1,面对中心导体设置有放置在其间的磁性板F1,平面导体连接到所有中心导体的第一端; 匹配电容器C1至C3,其具有接地的第一端,第二端连接到中心导体的第二端; 第一匹配电路,其具有连接到作为输入/输出端口的中心导体和第二端的第二端的第一端; 以及第二匹配电路,其具有连接到所述平面导体或与所述平面导体一体化的第一端和被电接地的第二端。
    • 4. 发明授权
    • Irreversible circuit element
    • 不可逆电路元件
    • US07821351B2
    • 2010-10-26
    • US11846721
    • 2007-08-29
    • Takayuki FurutaAtsushi FukudaHiroshi OkazakiShoichi Narahashi
    • Takayuki FurutaAtsushi FukudaHiroshi OkazakiShoichi Narahashi
    • H01P1/36
    • H01P1/387
    • An irreversible circuit element is configured by including a magnetic substance, a plurality of central conductors L1 to L3, one ends of which are connected to different input/output ports, arranged on the magnetic substance so as to intersect each other while being insulated from each other, a first conductor P1 connected to the other ends of all the central conductors L1 to L3, a second conductor, a plurality of matching capacitors (each configured by C1 to C3) connecting the one end of the central conductors L1 to L3 and the second conductor and a variable matching mechanism V1, one end of which is connected or integrated with the second conductor, capable of changing reactance between the one end and the other end thereof.
    • 不可逆电路元件通过包括磁性物质,多个中心导体L1至L3(其一端连接到不同的输入/输出端口)而配置在磁性物质上,以便彼此相交,同时与每个 另一方面,连接到所有中心导体L1至L3的另一端的第一导体P1,连接中心导体L1至L3的一端的多个匹配电容器(由C1至C3组成的多个匹配电容器)和第二导体 第二导体和可变匹配机构V1,其一端与第二导体连接或集成,能够改变其一端与另一端之间的电抗。
    • 5. 发明申请
    • IRREVERSIBLE CIRCUIT ELEMENT
    • 不可逆电路元件
    • US20080309426A1
    • 2008-12-18
    • US11846721
    • 2007-08-29
    • Takayuki FurutaAtsushi FukudaHiroshi OkazakiShoichi Narahashi
    • Takayuki FurutaAtsushi FukudaHiroshi OkazakiShoichi Narahashi
    • H01P1/36
    • H01P1/387
    • An irreversible circuit element is configured by including a magnetic substance, a plurality of central conductors L1 to L3, one ends of which are connected to different input/output ports, arranged on the magnetic substance so as to intersect each other while being insulated from each other, a first conductor P1 connected to the other ends of all the central conductors L1 to L3, a second conductor, a plurality of matching capacitors (each configured by C1 to C3) connecting the one end of the central conductors L1 to L3 and the second conductor and a variable matching mechanism V1, one end of which is connected or integrated with the second conductor, capable of changing reactance between the one end and the other end thereof.
    • 不可逆电路元件通过包括磁性物质,多个中心导体L1至L3(其一端连接到不同的输入/输出端口)而配置在磁性物质上,以便彼此相交,同时与每个 另一方面,连接到所有中心导体L1至L3的另一端的第一导体P1,连接中心导体L1至L3的一端的多个匹配电容器(由C1至C3组成的多个匹配电容器)和第二导体 第二导体和可变匹配机构V1,其一端与第二导体连接或集成,能够改变其一端与另一端之间的电抗。
    • 10. 发明授权
    • Two-legged walding locomotion apparatus and its walking controller
    • 双腿挂车运动装置及其步行控制器
    • US06992457B2
    • 2006-01-31
    • US10504691
    • 2003-02-07
    • Takayuki FurutaTetsuo TawaraYu OkumuraHiroaki Kitano
    • Takayuki FurutaTetsuo TawaraYu OkumuraHiroaki Kitano
    • G06F19/00
    • B25J13/085B62D57/02B62D57/032
    • A walk controller (30) for a biped (two-footed) walking mobile system, which drive-controls each joint drive motor (15L, 15R–20L, 20R) of each leg portion (13L, 13R) of a biped walking mobile system based on gait data, includes a force detector (23L, 23R) to detect the force allied to a sole of each foot portion (14L, 14R), and a compensator (32) to modify the gait data from a gait former (24) based on the force detected by a force detector, and is constituted so that each force detector (23L, 23R) comprises at least three 3-axial force sensors (36a, 36b, 36c) allocated on a sole of each foot portion (14L, 14R), and a compensator (32) modifies gait data based on the detected signals from three 3-axial force sensors (36a, 36b, 36c) which detect effective force, thereby the walk stability of a robot is realized, even on the unstable road surface condition with complex roughness.
    • 一种用于两脚架(两脚)行走移动系统的步行控制器(30),其驱动控制每个腿部(13L,13R)的每个关节驱动马达(15L,15R-20L,20R) 基于步态数据的双足步行移动系统包括用于检测与每个脚部(14L,14R)的鞋底相关联的力的力检测器(23L,23R)和用于修改的补偿器(32) 基于由力检测器检测到的力,来自步态成型器(24)的步态数据被构造成使得每个力检测器(23L,23R)包括至少三个三轴力传感器(36a,36b ,36c),分配在每个脚部(14L,14R)的鞋底上,补偿器(32)基于来自三个三轴力传感器(36a,36b,36c)的检测信号来修改步态数据 ),从而即使在具有复杂粗糙度的不稳定路面条件下也能够实现机器人的步行稳定性。