公开(公告)号：US07551978B2

公开(公告)日：2009-06-23

申请号：US11301099

申请日：2005-12-13

申请人： Taro Yokoyama ,  Kenichiro Sugiyama

发明人： Taro Yokoyama ,  Kenichiro Sugiyama

IPC分类号： G05B15/00 ,  G05B21/00 ,  B65H1/00 ,  B66C23/00

CPC分类号： B25J13/082 ,  B25J9/1612 ,  Y10S414/136

摘要： The item-carrying system comprises: a robot comprising: a gripping portion for gripping an item; external force detecting means for detecting an external force applied to the gripping portion; opening-degree detecting means for detecting an opening-degree of the gripping portion; autonomous movement means; and receiving/passing motion deciding means for deciding a motion of the robot in an item receiving/passing operation, wherein the receiving/passing motion deciding means comprises: means for determining to start receiving an item that causes the gripping portion to start a receiving motion if the external force detecting means has detected an external force not less than a first predetermined value, when the gripping portion is not gripping an item; and means for determining the completion of a receiving motion on the basis of at least one of an external force and an opening-degree during the receiving motion.

摘要翻译： 所述物品承载系统包括：机器人，包括：用于夹紧物品的夹持部分; 外力检测装置，用于检测施加到抓握部分的外力; 开度检测装置，用于检测抓握部的开度; 自主运动手段; 以及接收/通过运动决定装置，用于在项目接收/通过操作中决定机器人的运动，其中接收/通过运动判定装置包括：用于确定开始接收使得抓握部分开始接收运动的项目的装置 如果外力检测装置已经检测到不小于第一预定值的外力，则当夹持部未夹持物品时; 以及用于基于在接收运动期间的外力和开度的至少一个来确定接收运动的完成的装置。

公开(公告)号：US07460687B2

公开(公告)日：2008-12-02

申请号：US10616288

申请日：2003-07-10

申请人： Taro Yokoyama

发明人： Taro Yokoyama

IPC分类号： G06K9/00

CPC分类号： G06T7/73

摘要： A pointing position detection device is provided which, along with enabling a human being to perform pointing operation in a natural manner, can perform detection at high accuracy. The device detects the presence of a human being from an image photographed by cameras and a position at which the human being is pointing, and which includes: a section which, based upon the image, detects a head position of the human being, including at least distance information; a section which, based upon tile image, detects a hand position of the human being, including at least distance information; a section which, based upon the hand position, calculates a hand tip position and a main axis of the hand; and a section which detects a pointing direction, based upon the head position, the hand tip position, and the main axis, wherein the pointing position is detected based upon the pointing direction.

摘要翻译： 提供一种指示位置检测装置，其能够以自然的方式进行指示操作，能够以高精度进行检测。 该装置通过照相机拍摄的图像和人所指向的位置来检测人的存在，并且其包括：基于图像检测人的头部位置的部分，包括在 最小距离信息; 基于平铺图像检测人的手位置的部分，至少包括距离信息; 基于手位置计算手尖位置和手的主轴的部分; 以及基于头位置，手尖位置和主轴检测指向方向的部分，其中基于指向方向检测指示位置。

公开(公告)号：US3977604A

公开(公告)日：1976-08-31

申请号：US590026

申请日：1975-06-25

申请人： Taro Yokoyama ,  Osamu Akibayashi

发明人： Taro Yokoyama ,  Osamu Akibayashi

IPC分类号： F02M27/08 ,  F02M43/04 ,  F23D11/34 ,  B05B17/06

CPC分类号： F23D11/345 ,  F02M27/08

摘要： A pear or egg-shaped nozzle housing having a main jet nozzle at the tapered end, and several auxiliary nozzles at the other end of the housing. Inside the housing are two ultrasonic vibrators, one, a disc vibrator facing the auxiliary nozzles thus forming a hemisphere with the other housing end and the other a ring vibrator at the throat of the main jet nozzle.

摘要翻译： 梨形或卵形喷嘴壳体，其在锥形端部具有主喷嘴，在壳体的另一端具有若干辅助喷嘴。 在壳体内部有两个超声波振动器，一个是面向辅助喷嘴的盘式振动器，因此与另一个壳体端形成一个半球，另一个在主喷嘴的喉部处形成环形振动器。

公开(公告)号：US07877165B2

公开(公告)日：2011-01-25

申请号：US11297363

申请日：2005-12-09

申请人： Kenichiro Sugiyama ,  Taro Yokoyama ,  Koji Maki ,  Naohide Ogawa

发明人： Kenichiro Sugiyama ,  Taro Yokoyama ,  Koji Maki ,  Naohide Ogawa

IPC分类号： G05B19/00

CPC分类号： B62D57/032 ,  B25J13/085

摘要： In a legged mobile robot control system having leg actuators each driving the individual legs and arm actuators each driving the individual arms, an external force acting on the right arm is detected, operation of the right arm actuators is controlled to produces a handshake posture, and operation of the leg actuators is controlled based on the detected external force acting on the right hand during handshaking, thereby improving communication capability by enabling it to shake hands with humans and to maintain a stable posture during the handshaking.

摘要翻译： 在具有腿部致动器的腿式移动机器人控制系统中，每个驱动单独的腿和臂致动器驱动各个臂，检测作用在右臂上的外力，控制右臂致动器的操作以产生握手姿势，并且 基于在握手期间作用在右手上的检测到的外力来控制腿致动器的操作，从而通过使其能够与人握手并且在握手期间保持稳定的姿势来改善通信能力。

公开(公告)号：US20090060318A1

公开(公告)日：2009-03-05

申请号：US12230130

申请日：2008-08-25

申请人： Takamichi Shimada ,  Taro Yokoyama

发明人： Takamichi Shimada ,  Taro Yokoyama

IPC分类号： G06K9/00

CPC分类号： B25J19/023 ,  B62D57/032

摘要： In a legged mobile robot having an imaging device (such as CCD camera) for taking an image utilizing incident light from external world in which a human being to be imaged is present, brightness reduction operation is executed to reduce brightness of a high-brightness imaging region produced by high-brightness incident light, when the high-brightness imaging region is present in the image taken by the imaging device. With this, when the imaged high-brightness imaging region is present owing to high-brightness incident light from the sun or the like, the legged mobile robot can reduce the brightness to image a human being or other object with suitable brightness.

摘要翻译： 在具有成像装置（例如CCD照相机）的腿式移动机器人中，用于利用来自外部世界的入射光拍摄图像，其中存在要被成像的人的入射光，执行亮度降低操作以降低高亮度成像的亮度 当由成像装置拍摄的图像中存在高亮度成像区域时，由高亮度入射光产生的区域。 由此，当由于来自太阳等的高亮度入射光而存在成像的高亮度成像区域时，有腿的移动机器人可以降低亮度，以适当的亮度对人或其他物体进行成像。

公开(公告)号：US20080240889A1

公开(公告)日：2008-10-02

申请号：US12056527

申请日：2008-03-27

申请人： Taro Yokoyama

发明人： Taro Yokoyama

IPC分类号： B25J1/02

CPC分类号： B25J9/1612

摘要： A robot or the like able to precisely grip an object by flexibly changing an operation in accordance with various environments.When it is judged that a robot is in a “first state”, the action of the robot is controlled in accordance with a “first action mode”. Thus, the robot does not move and moves an arm or the like on the spot so that a first object W1 can be gripped by a hand. On the other hand, when the judging result is denial, the robot acts in an action mode different from the first action mode so that a relative position or the like of the first object W1 with the robot as a reference is changed. As a result, the robot can be changed from a non-first state to the first state.

摘要翻译： 能够通过根据各种环境灵活地改变操作来精确地夹持物体的机器人等。 当判断机器人处于“第一状态”时，根据“第一动作模式”来控制机器人的动作。 因此，机器人不会在现场移动和移动臂等，从而可以用手握住第一物体W 1 1。 另一方面，当判断结果为拒绝时，机器人作用于与第一动作模式不同的动作模式，使得第一对象W 1的机器人的相对位置等与机器人相同 参考更改。 结果，机器人可以从非第一状态改变到第一状态。

公开(公告)号：US07228923B2

公开(公告)日：2007-06-12

申请号：US10499056

申请日：2002-12-11

申请人： Toru Takenaka ,  Hiroshi Gomi ,  Kazushi Hamaya ,  Yoshinari Takemura ,  Takashi Matsumoto ,  Takahide Yoshiike ,  Yoichi Nishimura ,  Kazushi Akimoto ,  Taro Yokoyama

发明人： Toru Takenaka ,  Hiroshi Gomi ,  Kazushi Hamaya ,  Yoshinari Takemura ,  Takashi Matsumoto ,  Takahide Yoshiike ,  Yoichi Nishimura ,  Kazushi Akimoto ,  Taro Yokoyama

IPC分类号： B62D57/032

CPC分类号： B62D57/032 ,  B25J19/0091 ,  F16F9/0481

摘要： A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (a variable capacity element) is provided at a ground-contacting face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber and has a restoring force. An interior portion of the bag-like member 19 is communicated with the atmosphere side through a flow passage 20. During a landing motion of the leg, the bag-like member 19 makes contact with the ground to be compressed, and the air in the interior portion thereof flows out into the atmosphere through the flow passage 20, so that its outflow resistance is generated. Accordingly, a landing shock is reduced. In a lifting state of the leg, the restoring force of the bag-like member 19 allows the bag-like member 19 to be inflated while the air flows into the interior portion thereof. An impact load during the landing of the leg of the legged mobile robot may smoothly be reduced in a light-weight configuration.

摘要翻译： 设置在机器人腿部的脚部机构6中的着陆减震装置18，其中在脚部机构6的接地面侧设置有可膨胀的袋状构件19（可变容量元件）。袋 类构件19由橡胶等弹性材料构成，具有回复力。 袋状构件19的内部通过流路20与大气侧连通。在腿的着陆运动期间，袋状构件19与地面接触以被压缩，并且空气在 其内部部分通过流路20流入大气，从而产生其流出阻力。 因此，降低着陆冲击。 在腿的提升状态下，袋状构件19的恢复力允许袋状构件19在空气流入其内部部分时膨胀。 腿型移动式机器人腿部着陆时的冲击载荷可以在轻型构型中平滑地减少。

公开(公告)号：US20060173577A1

公开(公告)日：2006-08-03

申请号：US10538523

申请日：2003-12-03

申请人： Masanori Takeda ,  Taro Yokoyama

发明人： Masanori Takeda ,  Taro Yokoyama

IPC分类号： G06F19/00

CPC分类号： G06T7/20 ,  G06T7/73 ,  G10L15/26

摘要： The content of the voice designation of a designator is recognized by a voice recognition part 130 at the time of controlling a robot, and the content of the indication of gesture or the like is recognized by an image recognition part 120. A movement destination and a map around the specific position designated are referred from a map data base 150 registering the position of an obstacle and the current position estimated by a self-position estimation part 140. After movement ease is decided by a movement ease decision part 112, the behavior is decided. When movement designation is given to the robot, correspondence according to a situation can be performed.

摘要翻译： 在控制机器人时，由语音识别部分130识别指示符的语音指定的内容，并且由图像识别部分120识别手势等的指示的内容。移动目的地和 从指定障碍物的位置的地图数据库150以及由自位置估计部140估计出的当前位置的地图数据库150参考地图。在移动容易度由移动容易判定部112决定后，行为为 决定了 当给予机器人的移动指定时，可以执行根据情况的对应关系。

公开(公告)号：US06967456B2

公开(公告)日：2005-11-22

申请号：US10499117

申请日：2002-12-11

申请人： Toru Takenaka ,  Hiroshi Gomi ,  Kazushi Hamaya ,  Yoshinari Takemura ,  Takashi Matsumoto ,  Takahide Yoshiike ,  Yoichi Nishimura ,  Kazushi Akimoto ,  Taro Yokoyama

发明人： Toru Takenaka ,  Hiroshi Gomi ,  Kazushi Hamaya ,  Yoshinari Takemura ,  Takashi Matsumoto ,  Takahide Yoshiike ,  Yoichi Nishimura ,  Kazushi Akimoto ,  Taro Yokoyama

IPC分类号： B25J5/00 ,  B25J19/00 ,  B62D57/032 ,  F16F9/04

CPC分类号： F16F9/0481 ,  B25J19/0091 ,  B62D57/032

摘要： A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow/outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state. Furthermore, during the bag-like member 19 in the inflating state during the lifting state of the foot mechanism 6, by controlling timing when the solenoid valve 27 is switched from a valve opening state to a valve closing state, a height of the bag-like member 19 in a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.

摘要翻译： 设置在机器人腿部的脚部机构6中的着陆减震装置18包括在脚部机构6的底面侧的可膨胀且可压缩的袋状构件19（可变容量元件）。 袋状构件19由橡胶等弹性材料构成。 大气中的空气可以通过设置有电磁阀27等的流入/流出装置20流入和流出袋状构件19。 在脚部机构6的着陆状态下，并且在脚部机构从着陆状态转移到提升状态之后的状态下，电磁阀27关闭，以将袋状部件19维持在压缩状态。 此外，在脚部机构6的提升状态期间处于充气状态的袋状部件19中，通过控制电磁阀27从开阀状态切换到关闭状态的定时， 压缩方向的板状构件19被控制为适合于步态机器人的高度。 因此，能够容易地确保机器人的姿势稳定性，同时减少有腿可动机器人的腿部的着陆运动中的冲击负荷，并且还可以实现轻量化的构造。

公开(公告)号：US09003468B2

公开(公告)日：2015-04-07

申请号：US13978385

申请日：2011-01-07

申请人： Haruki Uehara ,  Fukutaro Okuyama ,  Taro Yokoyama ,  Kenji Matahira

发明人： Haruki Uehara ,  Fukutaro Okuyama ,  Taro Yokoyama ,  Kenji Matahira

IPC分类号： H04N7/173 ,  H04N21/24 ,  G10H1/00 ,  H04N21/43 ,  H04N21/8547 ,  H04N21/439 ,  G10H1/36

CPC分类号： H04N21/2402 ,  G10H1/00 ,  G10H1/0066 ,  G10H1/368 ,  G10H2240/031 ,  G10H2240/056 ,  G10H2240/171 ,  G10H2240/175 ,  G10H2240/305 ,  H04N21/4307 ,  H04N21/4392 ,  H04N21/8547

摘要： An automatic performance device includes a performance data receiving unit that receives performance data transmitted from a storage device without passing through a moving image distribution server, the storage device configured to store the performance data having a combination of performance information and time information, the time information indicating the time when the performance indicated by the performance information was carried out; a synchronization signal receiving unit that receives a synchronization signal by using an audio signal transmission path for an audio via the moving image distribution server; and a reproducing unit that reproduces the performance information of the performance data in synchronization with a video distributed at the time when the synchronization signal is distributed, at the timing corresponding to the time indicated by the time information and the time indicated by the synchronization signal.

摘要翻译： 一种自动演奏装置，包括性能数据接收单元，其接收从存储装置发送的演奏数据，而不通过运动图像分配服务器，所述存储装置被配置为存储具有演奏信息和时间信息的组合的演奏数据，所述时间信息 表示执行情况信息表明的表现时间; 同步信号接收单元，其经由所述运动图像分发服务器通过使用用于音频的音频信号传输路径来接收同步信号; 以及再现单元，其在与由时间信息指示的时间和由同步信号指示的时间相对应的定时处，与在分发同步信号时分配的视频同步地再现演奏数据的演奏信息。