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    Inverted pendulum type vehicle
    5.
    发明公开
    Inverted pendulum type vehicle 有权
    倒立式车辆

    公开(公告)号：EP2664532A1

    公开(公告)日：2013-11-20

    申请号：EP13156774.5

    申请日：2013-02-26

    申请人： Honda Motor Co., Ltd.

    发明人： Takenaka, Toru ,  Shirokura, Shinya ,  Murakami, Hideo ,  Araki, Makoto

    IPC分类号： B62K3/00

    CPC分类号： B62K11/00 ,  B62K11/007

    摘要： An inverted pendulum type vehicle includes a first control processor that adds up a basic velocity command in a longitudinal direction and a lateral direction based on an operation through a joystick and a desired center of gravity velocity addition amount in the longitudinal direction and the lateral direction based on the movement of the body weight of the rider, thereby determining a desired velocity. A longitudinal travel velocity command limiter sets a desired center of gravity velocity addition amount, which is based on the basic velocity command based on a longitudinal manipulated variable of the joystick and a center of gravity offset influence amount based on the movement of the body weight of the rider, to a smaller value as a basic turn angular velocity command value increases.

    摘要翻译： 倒立摆型车辆包括第一控制处理器和第二控制处理器，第一控制处理器基于通过操纵杆的操作和基于纵向方向和横向方向的期望重心速度添加量在纵向方向和横向方向上累加基本速度命令 根据骑车人的体重的运动，从而确定期望的速度。 纵向行进速度指令限制器基于基于操纵杆的纵向操作变量的基本速度指令和基于体重的移动的重心偏移影响量来设定期望重心速度添加量 随着基本回合角速度指令值的增加，骑车人将其减小到更小的值。

    Inverted pendulum type vehicle
    6.
    发明公开
    Inverted pendulum type vehicle 有权
    Fahrzeug in der Art eines umgekehrten Pendels

    公开(公告)号：EP2664527A1

    公开(公告)日：2013-11-20

    申请号：EP13163515.3

    申请日：2013-04-12

    申请人： Honda Motor Co., Ltd.

    发明人： Araki, Makoto ,  Shirokura, Shinya ,  Takenaka, Toru

    IPC分类号： B62K1/00 ,  B62K17/00 ,  B60B19/00

    CPC分类号： B62K3/007 ,  B60B19/003 ,  B60B19/12 ,  B62H1/12 ,  B62K1/00 ,  B62K11/007

    摘要： Object
    To provide an inverted pendulum type vehicle that makes it possible to learn how to steer the inverted pendulum type vehicle.
    Solving Means
    A vehicle 1 includes a control device 21 for controlling electric motors 8a and 8b and 17 and a portable telephone 27 for displaying a center-of-gravity display point 27f indicating the position of a center of gravity and outputting a command for moving the vehicle 1. The control device 21 controls a first actuator device and a second actuator device so as to move the vehicle 1 according to the command output from the portable telephone 27 and the tilting of an occupant boarding part 5.

    摘要翻译： 对象提供一种倒立摆式车辆，可以学习如何引导倒立摆式车辆。 解决方案车辆1包括用于控制电动机8a和8b和17的控制装置21和用于显示指示重心位置的重心显示点27f的便携式电话机27，并输出用于移动 控制装置21控制第一致动器装置和第二致动器装置，以便根据从便携式电话27输出的命令和乘员登机部5的倾斜来移动车辆1。

    Road surface frictional coefficient estimating apparatus
    8.
    发明公开
    Road surface frictional coefficient estimating apparatus 有权
    Vorrichtung zurSchätzungdes Reibungskoeffizienten einesStraßenbelags

    公开(公告)号：EP2218621A1

    公开(公告)日：2010-08-18

    申请号：EP10250261.4

    申请日：2010-02-16

    申请人： Honda Motor Co., Ltd.

    发明人： Takenaka, Toru ,  Urabe, Hiroyuki ,  Yano, Osamu ,  Mori, Yoshihiro ,  Ushimura, Tomoya

    IPC分类号： B60W40/06 ,  B60T8/172 ,  B60T8/1755 ,  B62D6/00

    CPC分类号： B60T8/172 ,  B60T2210/12 ,  B60T2270/86 ,  B60W40/068 ,  B62D6/006 ,  Y10T152/10792

    摘要： A road surface frictional coefficient estimating apparatus has a device for determining a first estimated value of a yaw moment Mnsp_estm generated at an NSP of a vehicle due to the resultant force of road surface reaction forces acting on each wheel by using, for example, a frictional coefficient estimated value that has been determined, and a device for determining a second estimated value of a yaw moment Mnsp_sens generated at the NSP from the observed value of motional state amounts defining an inertial force moment at the NSP. The increasing/decreasing manipulated variable of the frictional coefficient estimated value is sequentially determined on an error (Mnsp_sens - Mnsp_estm) such that the error is converged to zero, and the road surface frictional coefficient is updated on the basis of the increasing/decreasing manipulated variable.

    摘要翻译： 路面摩擦系数估计装置具有一种装置，用于确定在车辆的NSP处产生的横摆力矩Mnsp_estm的第一估计值，这是由于作用在每个车轮上的路面反作用力的合力，例如通过摩擦 系数估计值，以及用于根据在NSP处确定惯性力矩的运动状态量的观测值来确定在NSP处产生的偏航力矩Mnsp_sens的第二估计值的装置。 根据误差（Mnsp_sens-Mnsp_estm）依次确定摩擦系数估计值的增加/减少的操作变量，使得误差收敛到零，并且基于增加/减少的操作变量来更新路面摩擦系数 。

    Control device of legged mobile robot
    9.
    发明公开
    Control device of legged mobile robot 有权

    公开(公告)号：EP2206582A1

    公开(公告)日：2010-07-14

    申请号：EP10003336.4

    申请日：2004-06-28

    申请人： Honda Motor Co., Ltd.

    发明人： Takenaka, Toru ,  Matsumoto, Takashi ,  Yoshiike, Takahide

    IPC分类号： B25J5/00 ,  B25J13/00 ,  B62D57/032

    CPC分类号： B62D57/032

    摘要： On the basis of at least a difference between a desired state amount related to a posture of a robot (1) about a vertical axis or a floor surface normal line axis and an actual state amount of the robot (1) and a permissible range of a restriction object amount, namely, a vertical component of a floor reaction force moment or a component of the floor reaction force moment in a floor surface normal line direction to be applied to the robot (1), instantaneous values of a desired motion and a desired floor reaction force are determined such that a difference between a floor reaction force moment balancing with the desired motion on a dynamic model and a floor reaction force moment of the desired floor reaction force approximates the aforesaid difference to zero, while having the restriction object amount, which is associated with the desired floor reaction force, fall within the permissible range.