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1. 发明申请

US20060207419A1 Apparatus and method for controlling elastic actuator 有权
标题翻译：用于控制弹性致动器的装置和方法
公开(公告)号：US20060207419A1
公开(公告)日：2006-09-21
申请号：US11384568
申请日：2006-03-21
申请人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
发明人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
IPC分类号： F15B21/02
CPC分类号： F15B11/20 , B25J9/142 , F15B9/09 , F15B15/103
摘要： An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.
摘要翻译：通过压力测量装置测量液压气动驱动致动器的内部压力，测量可移动机构的位移量，输入期望值和位移的测量值，以便通过位置误差补偿来补偿位置误差通过期望的压力差计算装置计算通过期望值执行对向驱动的致动器的压力差的期望值，来自位置误差补偿装置，期望压力差计算装置和压力的输出输入测量装置，并通过压差误差补偿装置补偿压差误差。

2. 发明授权

US07260450B2 Apparatus and method for controlling elastic actuator 有权
标题翻译：用于控制弹性致动器的装置和方法
公开(公告)号：US07260450B2
公开(公告)日：2007-08-21
申请号：US11654569
申请日：2007-01-18
申请人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
发明人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
IPC分类号： G05B19/00 , G05B19/18
CPC分类号： F15B11/20 , B25J9/142 , F15B9/09 , F15B15/103
摘要： An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.
摘要翻译：通过压力测量装置测量液压气动驱动致动器的内部压力，测量可移动机构的位移量，输入期望值和位移的测量值，以便通过位置误差补偿来补偿位置误差通过期望的压力差计算装置计算通过期望值执行对向驱动的致动器的压力差的期望值，来自位置误差补偿装置，期望压力差计算装置和压力的输出输入测量装置，并通过压差误差补偿装置补偿压差误差。

3. 发明申请

US20070118252A1 Apparatus and method for controlling elastic actuator 有权
公开(公告)号：US20070118252A1
公开(公告)日：2007-05-24
申请号：US11654569
申请日：2007-01-18
申请人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
发明人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
IPC分类号： G06F19/00
CPC分类号： F15B11/20 , B25J9/142 , F15B9/09 , F15B15/103
摘要： An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.

4. 发明授权

US07184858B2 Apparatus and method for controlling elastic actuator 有权
公开(公告)号：US07184858B2
公开(公告)日：2007-02-27
申请号：US11384568
申请日：2006-03-21
申请人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
发明人： Yasunao Okazaki , Masaki Yamamoto , Yuji Adachi , Katsuhiko Asai
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： F15B11/20 , B25J9/142 , F15B9/09 , F15B15/103
摘要： An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.

5. 发明申请

US20060174761A1 Compressible fluid pressure actuator 有权
标题翻译：可压缩流体压力执行器
公开(公告)号：US20060174761A1
公开(公告)日：2006-08-10
申请号：US11360815
申请日：2006-02-24
申请人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
发明人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
IPC分类号： F01B19/00
CPC分类号： F15B11/04 , B25J9/1075 , B25J9/142 , F15B11/06 , F15B15/103 , F15B2211/40507 , F15B2211/7052 , F15B2211/755
摘要： An inner space connected to a power source and an inner space connected by way of a pressure loss part with respect to the flow of compressible fluid are provided, thereby obtaining effects similar to when the volume occupied by the compressible fluid with respect to the entire inner space is reduced when the pressure of the pressure source is rapidly changed, and effects similar to when the entire inner space is one space when static load is applied from the outside.
摘要翻译：提供连接到电源的内部空间和通过压缩损失部分相对于可压缩流体的流动连接的内部空间，从而获得与当可压缩流体相对于整个内部的体积占据的效果相似的效果当压力源的压力快速变化时，空间减小，并且当从外部施加静负荷时，当整个内部空间是一个空间时，效果类似。

6. 发明授权

US07415321B2 Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：US07415321B2
公开(公告)日：2008-08-19
申请号：US10538770
申请日：2003-12-11
申请人： Yasunao Okazaki , Kazuyuki Sakiyama , Katsuhiko Asai , Masaki Yamamoto
发明人： Yasunao Okazaki , Kazuyuki Sakiyama , Katsuhiko Asai , Masaki Yamamoto
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , G05B2219/39543 , G05B2219/40609
摘要： Realized is a robot controller capable of handling a large amount of data of images and so on necessary for advanced intelligence of control while securing a real-time performance with a simple structure. For this purpose, there are provided a motion control device for performing a calculation process for achieving motion control of an object to be controlled, a recognition and planning device for performing task and motion planning of the object to be controlled and recognition of outside world, an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled, and a route selecting device for controlling communications by switching connections among the motion control device the recognition and planning device, and the input/output interface. While controlling the communications by switching the connections among the motion control device, the recognition and planning device, and the input/output interface by the route selecting device, the motions of the robot of the object to be controlled are controlled on the basis of the results of the task and motion planning of the object to be controlled and the recognition of the outside world.
摘要翻译：实现了一种机器人控制器，能够处理大量数据的图像数据，因此需要先进的控制智能，同时以简单的结构确保实时性能。为此，提供了一种用于执行用于实现要控制的对象的运动控制的计算处理的运动控制装置，用于执行要控制的对象的任务和运动规划的识别和计划装置以及外部世界的识别，输入/输出接口，用于向要被控制和接收的对象输出命令，要被控制的对象的状态;以及路由选择装置，用于通过在运动控制装置之间切换连接来进行通信，该识别和规划装置，以及输入/输出接口。在通过切换运动控制装置，识别和规划装置之间的连接以及路线选择装置的输入/输出接口来控制通信的同时，基于所控制的对象的机器人的运动进行控制要控制的对象的任务和运动规划的结果以及对外界的认可。

7. 发明授权

US07213503B2 Compressible fluid pressure actuator 有权
标题翻译：可压缩流体压力执行器
公开(公告)号：US07213503B2
公开(公告)日：2007-05-08
申请号：US11360815
申请日：2006-02-24
申请人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
发明人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
IPC分类号： F01B19/04
CPC分类号： F15B11/04 , B25J9/1075 , B25J9/142 , F15B11/06 , F15B15/103 , F15B2211/40507 , F15B2211/7052 , F15B2211/755
摘要： An inner space connected to a power source and an inner space connected by way of a pressure loss part with respect to the flow of compressible fluid are provided, thereby obtaining effects similar to when the volume occupied by the compressible fluid with respect to the entire inner space is reduced when the pressure of the pressure source is rapidly changed, and effects similar to when the entire inner space is one space when static load is applied from the outside.
摘要翻译：提供连接到电源的内部空间和通过压缩损失部分相对于可压缩流体的流动连接的内部空间，从而获得与当可压缩流体相对于整个内部的体积占据的效果相似的效果当压力源的压力快速变化时，空间减小，并且当从外部施加静负荷时，当整个内部空间是一个空间时，效果类似。

8. 发明申请

US20060184272A1 Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：US20060184272A1
公开(公告)日：2006-08-17
申请号：US10538770
申请日：2003-12-11
申请人： Yasunao Okazaki , Kazuyuki Sakiyama , Katsuhiko Asai , Masaki Yamamoto
发明人： Yasunao Okazaki , Kazuyuki Sakiyama , Katsuhiko Asai , Masaki Yamamoto
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , G05B2219/39543 , G05B2219/40609
摘要： Realized is a robot controller capable of handling a large amount of data of images and so on necessary for advanced intelligence of control while securing a real-time performance with a simple structure. For this purpose, there are provided a motion control means for performing a calculation process for achieving motion control of an object to be controlled, a recognition and planning means for performing task and motion planning of the object to be controlled and recognition of outside world, an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled, and a route selecting means for controlling communications by switching connections among the motion control means, the recognition and planning means, and the input/output interface. While controlling the communications by switching the connections among the motion control means, the recognition and planning means, and the input/output interface by the route selecting means, the motions of the robot of the object to be controlled are controlled on the basis of the results of the task and motion planning of the object to be controlled and the recognition of the outside world.
摘要翻译：实现了一种机器人控制器，能够处理大量数据的图像数据，因此需要先进的控制智能，同时以简单的结构确保实时性能。为此，提供了一种用于执行用于实现要控制的对象的运动控制的计算处理的运动控制装置，用于执行要控制的对象和外部世界的识别的任务和运动规划的识别和规划装置，输入/输出接口，用于向待控制的对象输出一个命令，接收作为输入的对象，被控制对象的状态;以及路径选择装置，用于通过切换运动控制装置之间的连接来控制通信，识别和规划意思和输入/输出接口。在通过切换运动控制装置之间的连接，识别和规划装置以及由路径选择装置的输入/输出接口来控制通信的同时，基于被控制的对象的机器人的运动进行控制要控制的对象的任务和运动规划的结果以及对外界的认可。

9. 发明授权

US07654595B2 Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism 有权
标题翻译：多关节驱动机构及其制造方法，并用手抓握机器人
公开(公告)号：US07654595B2
公开(公告)日：2010-02-02
申请号：US10518756
申请日：2003-06-23
申请人： Kazuo Yokoyama , Atsushi Ono , Katsuhiko Asai , Yuji Adachi , Masaki Yamamoto
发明人： Kazuo Yokoyama , Atsushi Ono , Katsuhiko Asai , Yuji Adachi , Masaki Yamamoto
IPC分类号： B25J15/12
CPC分类号： B25J9/142 , B25J15/10
摘要： A multi-joint drive mechanism includes a bone-member layer member (101) in which a plurality of bone members are arranged in arrays and in a generally planar fashion, the plurality of bone members being movably coupled at coupling portions (3A), and elastically expanding/contracting members (3) which are arranged so as to stretch over the coupling portions on one side or both sides of the bone-member layer member and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanism drives flexural motions of joints between the plurality of adjoining bone members by expanding or contracting the elastically expanding/contracting member.
摘要翻译：多关节驱动机构包括骨构件层构件（101），其中多个骨构件以阵列方式布置并且以大致平面的方式布置，所述多个骨构件在联接部分（3A）处可移动地联接，以及弹性扩张/收缩构件（3），其布置成在骨构件层构件的一侧或两侧上的连接部分上延伸，并且还固定在多个骨构件之间，其中多关节驱动机构通过扩张或收缩弹性膨胀/收缩构件来驱动多个相邻的骨构件之间的接合部的弯曲运动。

10. 发明申请

US20050218679A1 Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism 有权
标题翻译：铰接驱动机构，制造机构的方法，以及使用机构握持手和机器人
公开(公告)号：US20050218679A1
公开(公告)日：2005-10-06
申请号：US10518756
申请日：2003-06-23
申请人： Kazuo Yokoyama , Atsushi Ono , Katsuhiko Asai , Yuji Adachi , Masaki Yamamoto
发明人： Kazuo Yokoyama , Atsushi Ono , Katsuhiko Asai , Yuji Adachi , Masaki Yamamoto
IPC分类号： B25J9/14 , B25J15/10 , B25J15/12
CPC分类号： B25J9/142 , B25J15/10
摘要： A multi-joint drive mechanism includes a bone-member layer member in which a plurality of bone members are arranged in arrays and in a generally planar fashion, the plurality of bone members being movably coupled at coupling portions, and elastically expanding/contracting members which are arranged so as to stretch over the coupling portions on one side or both sides of the bone-member layer member and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanism drives flexural motions of joints between the plurality of adjoining bone members by expanding or contracting the elastically expanding/contracting member.
摘要翻译：多关节驱动机构包括：骨构件层构件，其中多个骨构件以阵列方式布置并且以大致平面的方式布置，所述多个骨构件在联接部处可移动地联接，弹性扩张/收缩构件被布置成在骨构件层构件的一侧或两侧上的连接部分上延伸，并且还固定在多个骨构件之间，其中多关节驱动机构驱动多个骨构件之间的关节的弯曲运动通过膨胀或收缩弹性膨胀/收缩构件的邻接的骨构件。

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