公开(公告)号：US06992456B2

公开(公告)日：2006-01-31

申请号：US10495652

申请日：2002-11-19

Applicant: Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara ,  Hiroaki Kitano

Inventor： Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara ,  Hiroaki Kitano

IPC: B25J5/00 ,  G06F19/00

CPC classification number: B62D57/032

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US06902015B2

公开(公告)日：2005-06-07

申请号：US10466316

申请日：2002-06-03

Applicant: Takayuki Furuta ,  Ken Tomiyama ,  Hiroaki Kitano

Inventor： Takayuki Furuta ,  Ken Tomiyama ,  Hiroaki Kitano

IPC: B25J5/00 ,  B25J13/00 ,  B25J13/08 ,  B25J19/00 ,  B25J19/06 ,  B62D57/02 ,  B62D57/032 ,  F16F7/00 ,  B62D51/06

CPC classification number: B62D57/032 ,  B25J13/081 ,  B25J19/0091

Abstract: A biped walking humanoid robot is disclosed having an arrangement whereby shocks acting on various parts of the robot when it falls can be relieved and its state of fall can then be detected. The robot has a body (11) capable of bending forward, a pair of legs (12L, 12R) attached to a lower part of the body at a pair of opposite sides thereof, respectively, a pair of arms (13L, 13R) attached to an upper part of the body at a pair of opposite sides, respectively, and a head (14) attached to an upper end of the body, each of the legs having a upper leg (15L, 15R) attached to the body so as to be pivotally movable relative thereto triaxially, a lower leg (16L, 16R) attached to a lower end of the upper leg so as to be pivotally movable relative thereto monoaxially and a foot (17L, 17R) attached to a lower end of the lower leg so as to be pivotally movable relative thereto biaxially, each of the arms having an upper arm (25L, 25R) attached to the body so as to be pivotally movable relative thereto biaxially, a lower arm (26L, 26R) attached to the upper arm so as to be pivotally movable relative thereto monoaxially and a hand (27L, 27R) attached to the lower hand so as to be pivotally movable relative thereto biaxially, the robot also having drive means (23L, 23R, 24L, 24R; 21L, 21R; 19L, 19R, 20L, 20R, 18L, 18R; . . . ) associated with the feet, the lower legs and the upper legs of the legs, the hands, the lower arms and the upper arms of the arms and a body bending-forward region for pivotally moving them, respectively, a control stage (51) for controlling driving actions of the drive means, and a contact detector (40) mounted at each of an outer elbow surface area formed between the upper and lower arms, and an outer wrist surface area between the lower arm and the hand of each of the arms, and a lower toe surface area of the foot, a lower heal surface area of the foot, an outer knee surface area between the upper and lower legs of each of the legs, and a hip surface area and a back surface area of the body, the contact detector at each of these surface areas comprising a casing portion (41) made of a material forming an outer covering surface area of the robot, a pressure sensor (42) for sensing a pressure acting on the casing portion and a shock absorbing material (43) for absorbing a shock acting on the casing portion. Thus, when the biped walking humanoid robot is having a fall, the state or type of this fall can be determined by the control stage in response to a contact signal detected by the pressure sensor in the contact detector at a relevant part of the abovementioned robot parts which is brought into contact with the floor or ground. Then, on the basis of the type of the fall determined, the control stage is allowed to act on the drive means to move the arm and leg parts suitably so as to cause the robot to take a corrective falling action to have a safety fall and then to move to taking a rising action to get up on its feet.

公开(公告)号：US20050088131A1

公开(公告)日：2005-04-28

申请号：US10504691

申请日：2003-02-07

Applicant: Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

Inventor： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

IPC: B25J5/00 ,  B25J13/08 ,  B62D57/02 ,  B62D57/032

CPC classification number: B25J13/085 ,  B62D57/02 ,  B62D57/032

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US10594762B2

公开(公告)日：2020-03-17

申请号：US14360006

申请日：2012-08-31

Applicant: Hiroaki Kitano

Inventor： Hiroaki Kitano

IPC: H04L29/08 ,  G06Q10/10

Abstract: According to an illustrative embodiment, an information processing system is provided. The information processing system includes at least one control unit to designate a user-access position within sequential content at which a user accesses the sequential content, and to associate the user with other users who each access the sequential content at a position that is the same, or close to, the user-access position.

公开(公告)号：US09267479B2

公开(公告)日：2016-02-23

申请号：US13978776

申请日：2012-07-24

Applicant: Hiroaki Kitano ,  Daisuke Mizuno ,  Yuhei Tsukahara ,  Osamu Ishikawa ,  Takeru Okabe ,  Koichiro Kamei

Inventor： Hiroaki Kitano ,  Daisuke Mizuno ,  Yuhei Tsukahara ,  Osamu Ishikawa ,  Takeru Okabe ,  Koichiro Kamei

IPC: F02N11/08 ,  F02N15/00 ,  F02N11/00 ,  F02N15/06

CPC classification number: F02N11/00 ,  F02N11/0844 ,  F02N11/0855 ,  F02N15/067 ,  F02N2200/022 ,  F02N2250/04

Abstract: Provided is an engine starting device, including: starter control means for causing, when the restart condition is established during a period in which a meshing inhibition condition for a ring gear and a pinion gear is established, the pinion gear and the ring gear to mesh with each other after the meshing inhibition condition is released, thereby restarting the engine. The starter control means determines the meshing permission condition and the meshing inhibition condition based on at least an engine rotation speed, and determines the release of the meshing inhibition condition before the engine completely stops based on at least one of the engine rotation speed and an elapsed time after the establishment of the meshing inhibition condition.

Abstract translation: 本发明提供一种发动机起动装置，其特征在于，包括：启动器控制装置，用于当在形成齿圈和小齿轮的啮合禁止状态的时段内建立起动条件时，使小齿轮和齿圈啮合 在啮合禁止条件被释放之后彼此相关，从而重新启动发动机。 启动器控制装置至少基于发动机转速来确定啮合允许条件和啮合禁止条件，并且基于发动机转速和已经经过的发动机转速中的至少一个来确定发动机完全停止之前的啮合禁止状态的释放 建立啮合抑制条件后的时间。

公开(公告)号：US09137122B2

公开(公告)日：2015-09-15

申请号：US13876283

申请日：2011-03-31

Applicant: Hiroaki Kitano ,  Yukiko Matsuoka ,  Samik Ghosh

Inventor： Hiroaki Kitano ,  Yukiko Matsuoka ,  Samik Ghosh

IPC: H04L12/24 ,  G06F17/30 ,  G06F19/12 ,  G06F19/26 ,  G06F19/28

CPC classification number: H04L41/22 ,  G06F17/30958 ,  G06F19/12 ,  G06F19/26 ,  G06F19/28

Abstract: The present invention involves retrieving edges that do not constitute a designated network model which is a network model designated by a user and are linked to nodes that constitute the designated network model, displaying retrieval results that include the retrieved edges and network model IDs corresponding to the edges in a selectable manner, and generating an integrated network model in which, when the retrieval results are selected by the user, the edges that are included in the selected retrieval results and the nodes that do not constitute the designated network model and are linked to the edges, are integrated into the designated network model.

Abstract translation: 本发明涉及检索不构成作为由用户指定的网络模型的指定网络模型的边缘，并且链接到构成指定网络模型的节点，显示包括检索到的边缘的检索结果和对应于该网络模型ID的网络模型ID 边缘，并且生成集成网络模型，其中当用户选择检索结果时，包括在所选择的检索结果中的边缘和不构成指定网络模型的节点被链接到 边缘被集成到指定的网络模型中。

公开(公告)号：US20130079900A1

公开(公告)日：2013-03-28

申请号：US13702215

申请日：2011-03-31

Applicant: Hiroaki Kitano

Inventor： Hiroaki Kitano

IPC: G05B13/04

CPC classification number: G05B13/042 ,  C12M47/04 ,  G06Q10/00 ,  G16B40/00

Abstract: The present invention sets, for each cells or each condition, a production output of the cells or the biomass based on the measured data and a variable indicating an extent of variation of the production output, calculates a variable range of the production output and the variable in case of combining the multiple cells or conditions based on the production output and the variable set, and calculates an optimum combination within the variable range by using an optimization method.

Abstract translation: 本发明基于测定数据，针对各单元或各条件设定单元或生物量的生产量，以及表示生产输出的变化程度的变量，计算生产输出的可变范围和变量 在基于生产输出和变量组合多个单元格或条件的情况下，并且通过使用优化方法来计算可变范围内的最佳组合。

公开(公告)号：US20110246080A1

公开(公告)日：2011-10-06

申请号：US13131137

申请日：2009-12-01

Applicant: Natalia Polouliakh ,  Richard Nock ,  Frank Nielsen ,  Hiroaki Kitano

Inventor： Natalia Polouliakh ,  Richard Nock ,  Frank Nielsen ,  Hiroaki Kitano

IPC: G06F19/00 ,  G06F17/18

CPC classification number: G16B40/00 ,  G16B25/00

Abstract: [Object] To provide a gene clustering tool that can perform gene clustering based on the data on gene expression level over time without a priori data forecast but with high precision.[Solving Means] Provided is a gene clustering program for performing at least (1) a step S1 of calculating a feature value reflecting similarity among data from the data representing variation in gene expression level over time, (2) a step S2 of calculating eigenvectors of a similarity matrix M from the calculated feature values for all combinations of the genes, (3) a step S3 of transforming the similarity matrix M into a Boolean matrix N while maintaining eigenvalues of the eigenvectors, and (4) a step S4 of clustering the data based on the Boolean matrix N.

Abstract translation: [目的]提供一种可以基于基因表达水平随时间的数据进行基因聚类的基因聚类工具，无需先验数据预测，但具有高精度。 [解决方案]提供一种基因聚类程序，用于至少执行（1）从表示基因表达水平随时间变化的数据计算反映数据之间的相似性的特征值的步骤S1，（2）计算特征向量的步骤S2 （3）将相似矩阵M变换为布尔矩阵N同时保持特征向量的特征值的步骤S3，以及（4）聚类的步骤S4 基于布尔矩阵N的数据。

公开(公告)号：US20110098865A1

公开(公告)日：2011-04-28

申请号：US12887913

申请日：2010-09-22

Applicant: Hiroaki Kitano ,  Shigeru Tajima

Inventor： Hiroaki Kitano ,  Shigeru Tajima

IPC: G06F1/26

CPC classification number: H04L12/10 ,  H02J1/08

Abstract: There is provided a power distributing system including a power supply server that outputs power to a bus line at a predetermined timing, a client that receives the power output by the power supply server via the bus line, and a switching distribution system unit that switches a distribution system with respect to the bus line. The switching distribution system unit switches power transmitting/receiving system between the power supply server and the client into power transmitting/receiving system of commercial power, and disconnects the power transmitting/receiving system of commercial power so that the power transmitting/receiving system between the power supply server and the client becomes effective

Abstract translation: 提供了一种配电系统，包括在预定定时向总线输出电力的电源服务器，经由总线接收由电源服务器输出的电力的客户端，以及切换分配系统单元 配电系统相对于公交线路。 交换分配系统单元将供电服务器和客户端之间的电力发送/接收系统切换成商业电力的发送/接收系统，并断开商业电力的发送/接收系统，使得发送/接收系统之间的 电源服务器和客户端变得有效

公开(公告)号：US07057367B2

公开(公告)日：2006-06-06

申请号：US10504693

申请日：2003-02-07

Applicant: Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

Inventor： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

IPC: B25J13/00

CPC classification number: B62D57/032 ,  B62D57/02

Abstract: It is a biped (two-footed) walking humanoid robot, which is provided with drive motors (11d, 11e, 18L, 18R-24L, 24R, 28L, 28R-33L, 33R, 35, 36) to pivotally move respective joint portions, and a motion control apparatus (40) to drive-control respective drive motors, and said motion control apparatus (40), together with a detector (45) to detect the robot's current posture and others, compares the robot's detected current posture and others with next motion command input from outside, and if next motion command is within the range of stability limit with respect to the robot's current posture and others, the complementary data with respect to intermediate motion from current posture till initial posture of next motion command and the motion data corresponding to next motion command are generated, each drive motor is drive-controlled based on said complementary and motion data, and thereby various motions are conducted smoothly and continually. It is preferably provided with a motion library (41a) storing time series data of basic motions as the elements of the robot's motions and posture data consisting of algorithm, reads out the corresponding posture data from said motion library, and generates complementary and motion data as the combined motion sequence.

Abstract translation: 它是一个双足（两脚）步行人形机器人，它设有驱动马达（11d，11e，18L，18R-24L，24R，28L，28R-33L，33R， 以及运动控制装置（40），用于驱动控制相应的驱动马达和所述运动控制装置（40）与检测器（45）一起检测机器人的当前姿势，以及 其他人通过从外部输入的下一个运动命令来比较机器人检测到的当前姿态和其他运动命令，并且如果下一个运动命令在关于机器人的当前姿势等的稳定极限的范围内，则相对于来自当前的中间运动的补充数据 生成下一个运动命令的初始姿势和与下一个运动命令相对应的运动数据的姿势，基于所述互补运动数据驱动控制每个驱动马达，从而平稳且持续地进行各种运动。 优选地，设置有存储作为机器人运动的要素的基本运动的时间序列数据的运动库（41a）和由算法组成的姿势数据，从所述运动库读出相应的姿势数据，并且生成补充运动数据 作为组合运动序列。