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1. 发明申请

US20100193265A1 CAR, WALKING APPARATUS, AND METHOD OF DETERMINING SHAPE OF WHEEL 有权
标题翻译：汽车，行车装置，以及确定车轮形状的方法
公开(公告)号：US20100193265A1
公开(公告)日：2010-08-05
申请号：US12700325
申请日：2010-02-04
申请人： Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
发明人： Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
IPC分类号： B62D61/00
CPC分类号： B62D57/00 , B60L11/16 , B60L2200/14 , B60L2240/20 , B60L2240/423 , B60L2260/34 , B62K1/00 , Y02T10/642 , Y02T10/7027 , Y02T10/7033
摘要： A car having a rotatable wheel, the car being able to run by rotating the wheel, the car having a leg used by the car for walking, and an attitude stabilization section for stabilizing an attitude of the car.
摘要翻译：具有可旋转轮的汽车，能够通过旋转车轮来行驶的汽车，具有由车辆行走的腿部的汽车以及用于稳定汽车的姿态的姿态稳定部。

2. 发明授权

US08544572B2 Car, walking apparatus, and method of determining shape of wheel 有权
公开(公告)号：US08544572B2
公开(公告)日：2013-10-01
申请号：US12700359
申请日：2010-02-04
申请人： Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
发明人： Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
IPC分类号： B62D57/00
CPC分类号： B62D57/00 , B60L11/16 , B60L2200/14 , B60L2240/20 , B60L2240/423 , B60L2260/34 , B62K1/00 , Y02T10/642 , Y02T10/7027 , Y02T10/7033
摘要： A car having a rotatable wheel, the car being able to run by rotating the wheel, the car having a leg used by the car for walking, and an attitude stabilization section for stabilizing an attitude of the car.

3. 发明申请

US20070035109A1 Car 有权
标题翻译：汽车
公开(公告)号：US20070035109A1
公开(公告)日：2007-02-15
申请号：US11454051
申请日：2006-06-14
申请人： Shunji Yamanaka , Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
发明人： Shunji Yamanaka , Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
IPC分类号： B60N2/62
CPC分类号： B62D47/00 , A63G25/00 , A63H17/262 , B60B19/00 , B60B37/00 , B60G3/20 , B60G2200/144 , B60G2200/44 , B60G2300/07 , B60G2300/37 , B60G2300/40 , B60Y2200/11 , B62D61/10 , B62D61/12
摘要： A car includes a car body having a bottom portion, a wheel that is rotatable, and a supporting member for supporting the wheel, the supporting member being provided to the bottom portion. At least eight pairs of the wheel and the supporting member are provided. The supporting member has a first supporting portion for supporting the wheel rotatably, a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion. The turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state that the distance is maintained.
摘要翻译：汽车包括具有底部的车身，可旋转的车轮和用于支撑车轮的支撑构件，支撑构件设置在底部。提供至少八对车轮和支撑构件。支撑构件具有用于可旋转地支撑车轮的第一支撑部分，用于支撑第一支撑部分的第二支撑部分，使得可以改变由第一支撑部分支撑的车轮的方向;以及转动部分，其可绕旋转轴线沿其轴向方向沿着与底部垂直的方向，转向部分设置在底部。转向部分支撑第二支撑部分，使得可以改变车轮和底部之间的距离，并且在保持距离的状态下可以通过转动部分的旋转来移动车轮的位置。

4. 发明申请

US20100230186A1 CAR 审中-公开
标题翻译：汽车
公开(公告)号：US20100230186A1
公开(公告)日：2010-09-16
申请号：US12708553
申请日：2010-02-19
申请人： Shunji Yamanaka , Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
发明人： Shunji Yamanaka , Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
IPC分类号： B62D61/10
CPC分类号： B62D47/00 , A63G25/00 , A63H17/262 , B60B19/00 , B60B37/00 , B60G3/20 , B60G2200/144 , B60G2200/44 , B60G2300/07 , B60G2300/37 , B60G2300/40 , B60Y2200/11 , B62D61/10 , B62D61/12
摘要： A car includes a car body having a bottom portion, a wheel that is rotatable, and a supporting member for supporting the wheel, the supporting member being provided to the bottom portion. At least eight pairs of the wheel and the supporting member are provided. The supporting member has a first supporting portion for supporting the wheel rotatably, a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion. The turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state that the distance is maintained.
摘要翻译：汽车包括具有底部的车身，可旋转的车轮和用于支撑车轮的支撑构件，支撑构件设置在底部。提供至少八对车轮和支撑构件。支撑构件具有用于可旋转地支撑车轮的第一支撑部分，用于支撑第一支撑部分的第二支撑部分，使得可以改变由第一支撑部分支撑的车轮的方向;以及转动部分，其可绕旋转轴线沿其轴向方向沿着与底部垂直的方向，转向部分设置在底部。转向部分支撑第二支撑部分，使得可以改变车轮和底部之间的距离，并且在保持距离的状态下可以通过转动部分的旋转来移动车轮的位置。

5. 发明授权

US07690448B2 Car 有权
标题翻译：汽车
公开(公告)号：US07690448B2
公开(公告)日：2010-04-06
申请号：US11454051
申请日：2006-06-14
申请人： Shunji Yamanaka , Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
发明人： Shunji Yamanaka , Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
IPC分类号： B62D61/10
CPC分类号： B62D47/00 , A63G25/00 , A63H17/262 , B60B19/00 , B60B37/00 , B60G3/20 , B60G2200/144 , B60G2200/44 , B60G2300/07 , B60G2300/37 , B60G2300/40 , B60Y2200/11 , B62D61/10 , B62D61/12
摘要： A car includes a car body having a bottom portion, a wheel that is rotatable, and a supporting member for supporting the wheel, the supporting member being provided to the bottom portion. At least eight pairs of the wheel and the supporting member are provided. The supporting member has a first supporting portion for supporting the wheel rotatably, a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion. The turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state that the distance is maintained.
摘要翻译：汽车包括具有底部的车身，可旋转的车轮和用于支撑车轮的支撑构件，支撑构件设置在底部。提供至少八对车轮和支撑构件。支撑构件具有用于可旋转地支撑车轮的第一支撑部分，用于支撑第一支撑部分的第二支撑部分，使得可以改变由第一支撑部分支撑的车轮的方向;以及转动部分，其可绕旋转轴线沿其轴向方向沿着与底部垂直的方向，转向部分设置在底部。转向部分支撑第二支撑部分，使得可以改变车轮和底部之间的距离，并且在保持距离的状态下可以通过转动部分的旋转来移动车轮的位置。

6. 发明授权

US08561734B2 Car, walking apparatus, and method of determining shape of wheel 有权
标题翻译：汽车，步行装置和确定车轮形状的方法
公开(公告)号：US08561734B2
公开(公告)日：2013-10-22
申请号：US12700325
申请日：2010-02-04
申请人： Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
发明人： Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
IPC分类号： B62D57/00
CPC分类号： B62D57/00 , B60L11/16 , B60L2200/14 , B60L2240/20 , B60L2240/423 , B60L2260/34 , B62K1/00 , Y02T10/642 , Y02T10/7027 , Y02T10/7033
摘要： A car having a rotatable wheel, the car being able to run by rotating the wheel, the car having a leg used by the car for walking, and an attitude stabilization section for stabilizing an attitude of the car.
摘要翻译：具有可旋转轮的汽车，能够通过转动车轮来行驶的汽车，具有用于行走的汽车使用的脚的汽车以及用于稳定汽车的姿态的姿势稳定部。

7. 发明申请

US20100198493A1 CAR, WALKING APPARATUS, AND METHOD OF DETERMING SHAPE OF WHEEL 有权
标题翻译：汽车，行车设备和确定车轮形状的方法
公开(公告)号：US20100198493A1
公开(公告)日：2010-08-05
申请号：US12700359
申请日：2010-02-04
申请人： Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
发明人： Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
IPC分类号： G06F19/00
CPC分类号： B62D57/00 , B60L11/16 , B60L2200/14 , B60L2240/20 , B60L2240/423 , B60L2260/34 , B62K1/00 , Y02T10/642 , Y02T10/7027 , Y02T10/7033
摘要： A car having a rotatable wheel, the car being able to run by rotating the wheel, the car having a leg used by the car for walking, and an attitude stabilization section for stabilizing an attitude of the car.
摘要翻译：具有可旋转轮的汽车，能够通过转动车轮来行驶的汽车，具有用于行走的汽车使用的脚的汽车以及用于稳定汽车的姿态的姿势稳定部。

8. 发明申请

US20070257451A1 Car, walking apparatus, and method of determining shape of wheel 审中-公开
标题翻译：汽车，步行装置和确定车轮形状的方法
公开(公告)号：US20070257451A1
公开(公告)日：2007-11-08
申请号：US11636687
申请日：2006-12-08
申请人： Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
发明人： Takayuki Furuta , Masaharu Shimizu , Hideaki Yamato , Yu Okumura , Tetsuo Tawara , Masaki Shimomura , Ken Endo
IPC分类号： B60G17/005
CPC分类号： B62D57/00 , B60L50/30 , B60L2200/14 , B60L2240/20 , B60L2240/423 , B60L2260/34 , B62K1/00 , Y02T10/642 , Y02T10/7027 , Y02T10/7033
摘要： A car having a rotatable wheel, the car being able to run by rotating the wheel, the car having a leg used by the car for walking, and an attitude stabilization section for stabilizing an attitude of the car.
摘要翻译：具有可旋转轮的汽车，能够通过转动车轮来行驶的汽车，具有用于行走的汽车使用的脚的汽车以及用于稳定汽车的姿态的姿势稳定部。

9. 发明申请

US20050171635A1 Walking type moving device and walking control device therefor and walking control method 审中-公开
标题翻译：步行式移动装置及步行控制装置及步行控制方法
公开(公告)号：US20050171635A1
公开(公告)日：2005-08-04
申请号：US10517377
申请日：2003-06-04
申请人： Takayuki Furuta , Tetsuo Tawara , Yu Okumura , Hiroaki Kitano , Masaharu Shimizu
发明人： Takayuki Furuta , Tetsuo Tawara , Yu Okumura , Hiroaki Kitano , Masaharu Shimizu
IPC分类号： A63H11/18 , B25J5/00 , B25J13/08 , B62D57/032 , G06F19/00
CPC分类号： B25J13/085 , B62D57/032
摘要： A walk controller (30) to drive-control drive means of respective joint portions (15L, 15R to 20L, 20R) of respective leg portions (13L, 13R) based on gait data comprises force sensors (23L, 23R) to detect forces applied to the soles of respective foot portions (14L, 14R), and a compensation part (32) to adjust the gait data from a gait forming part (24) based on horizontal floor reaction force among the forces detected by the force sensors, respective force sensor parts (23L, 23R) comprises 3-axis force sensors (36a to 36d) provided to respective parts of soles divided into a plurality at respective foot portions (14L, 14R), a contact detection part (32b) detects a contact of foot sides by the force sensors provided to regions next to end edges of respective soles, and the compensation part (32) adjusts the gait data from the gait forming part (24) referring to the contact of foot sides, and thereby the contact of foot sides to such a matter as an obstacle is detected, and a walk stability is realized.
摘要翻译：基于步态数据，用于基于步态数据的各个脚部（13L，13R）的各接合部（15L，15R〜20L，20R）的驱动控制驱动装置的行走控制器（30）包括力传感器，23R），用于检测施加到各脚部（14L，14R）的鞋底的力;以及补偿部（32），根据步行形成部（24）的步行数据，由力传感器检测到的力，各自的力传感器部件（23L，23R）包括设置在各个脚部分（14L，23R）上的多个鞋底部分的三轴力传感器（36a至36d） 14R）中，接触检测部（32b）通过设置在各个鞋底的端部边缘附近的区域的力传感器检测脚侧的接触，补偿部（32）从步态形成部（32b） 24）指脚侧面的接触，从而使脚侧与诸如ob的接触检测到突破，实现步行稳定。

10. 发明授权

US06992456B2 Biped walking mobile system, its walk controller, and walk control method therefor 失效
标题翻译：双脚走路系统，其步行控制器及其步行控制方法
公开(公告)号：US06992456B2
公开(公告)日：2006-01-31
申请号：US10495652
申请日：2002-11-19
申请人： Takayuki Furuta , Yu Okumura , Tetsuo Tawara , Hiroaki Kitano
发明人： Takayuki Furuta , Yu Okumura , Tetsuo Tawara , Hiroaki Kitano
IPC分类号： B25J5/00 , G06F19/00
CPC分类号： B62D57/032
摘要： The present invention provides a biped (two-footed) walking mobile system, its walk controller, and walk control method therefore, which are to realize enhancing an walk stability, as well as a consumed energy saving. A walk controller (30) of a biped walking mobile system forms a gait data by a gait forming part (33) based on parameters from a gait stabilizing part (32), and drive-controls drive means of respective joint portions (15L, 15R–20L, 20R) of each leg portion based on said gait data. In this case, the walk controller (30) is so constituted as to selectively witch a powered mode to conduct ordinary drive-control and a passive mode to drive-control the drive means similarly with passive joints, whereby drive-controlling respective joint portions. The walk controller (30) preferably switches the drive and passive modes with respect to, for example, joint portions of knee and foot portions, or switches to the powered mode for kick-up and landing during walking motion, and to the passive mode for a free foot state.
摘要翻译：本发明提供了一种两足动物（双脚）步行移动系统，其步行控制器和步行控制方法，其实现了步行稳定性的提高以及消耗的节能。两足步行移动系统的行走控制器（30）基于来自步态稳定部件（32）的参数，通过步态形成部件（33）形成步态数据，并且驱动控制各个接合部分（15L， 15R-20L，20R）。在这种情况下，步行控制器30构成为选择性地动力模式进行通常的驱动控制和被动模式，以类似于被动接头驱动控制驱动装置，由此驱动控制各个接合部分。步行控制器（30）优选地将例如膝盖和脚部的关节部分的驱动和被动模式或者在步行运动期间切换到用于启动和着陆的动力模式，以及被动模式一个自由的脚状态。

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