公开(公告)号：US20130276620A1

公开(公告)日：2013-10-24

申请号：US13979131

申请日：2011-01-11

申请人： Haruki Uehara ,  Fukutaro Okuyama ,  Taro Yokoyama

发明人： Haruki Uehara ,  Fukutaro Okuyama ,  Taro Yokoyama

IPC分类号： G10H1/00

CPC分类号： G10H1/0066 ,  G10H1/368 ,  G10H2240/175 ,  G10H2240/205 ,  G10H2240/295 ,  G10H2240/325 ,  G11B27/10 ,  H04L67/325 ,  H04L69/14 ,  H04N21/242 ,  H04N21/4131 ,  H04N21/8113 ,  H04N21/8547

摘要： A performance system includes a plurality of performance information output devices, a storage device, and a plurality of automatic performance devices. At least one performance information output device transmits performance data having the combination of an identifier, time information, and the performance information to at least one automatic performance device through the storage device without passing through a moving image distribution server. The at least one performance information output device transmits a synchronization signal to the at least one automatic performance device through the moving image distribution server. The at least one automatic performance device reproduces the performance information 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： 性能系统包括多个性能信息输出设备，存储设备和多个自动演奏设备。 至少一个性能信息输出设备通过存储设备将具有标识符，时间信息和性能信息的组合的性能数据发送到至少一个自动演奏设备，而不通过运动图像分发服务器。 所述至少一个性能信息输出装置通过所述运动图像分发服务器向所述至少一个自动演奏装置发送同步信号。 所述至少一个自动演奏装置在与由所述时间信息指示的时间和所述同步信号所指示的时间相对应的时刻，与在分发同步信号时分配的视频同步地再现演奏信息。

公开(公告)号：US20110061514A1

公开(公告)日：2011-03-17

申请号：US12876646

申请日：2010-09-07

申请人： Taro YOKOYAMA ,  Haruki UEHARA ,  Yoshiki KASAHARA ,  Yutaka HASEGAWA

发明人： Taro YOKOYAMA ,  Haruki UEHARA ,  Yoshiki KASAHARA ,  Yutaka HASEGAWA

IPC分类号： G10H1/00

CPC分类号： G10H1/0066 ,  G10H2240/155

摘要： A plurality of musical instrument is connected to a server device through a network to form a storage system. The musical instrument generates performance data, and sends the performance data to the server device every time the performance data is generated. The server device receives the performance data sent from the musical instrument. The server device has a clock unit that measures date and time, and a storage unit that stores the performance data received by the receiving unit. Further, a file generation unit of the server device divides a polarity of the performance data stored in the storage unit into blocks based on the date and time of the performance data measured by the clock unit when the performance data is received by the receiving unit, and generates performance files corresponding to the blocks of the performance data.

摘要翻译： 多个乐器通过网络连接到服务器设备以形成存储系统。 乐器产生演奏数据，并在每次演奏数据生成时将演奏数据发送到服务器设备。 服务器设备接收从乐器发送的演奏数据。 服务器设备具有测量日期和时间的时钟单元，以及存储由接收单元接收的演奏数据的存储单元。 此外，当接收单元接收到演奏数据时，服务器装置的文件生成单元将存储在存储单元中的演奏数据的极性根据由时钟单元测量的演奏数据的日期和时间分成块， 并生成与演奏数据的块对应的演奏文件。

公开(公告)号：US07873448B2

公开(公告)日：2011-01-18

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： G05D1/00

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：US07378811B2

公开(公告)日：2008-05-27

申请号：US10499116

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： B25J9/08

CPC分类号： B62D57/032 ,  B25J19/0091 ,  B62D57/02 ,  F16F9/0481 ,  F16F15/023 ,  Y10T74/20299

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 (variable capacity element) is provided at a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. The air in atmosphere may flow into and out of the bag-like member 19 by inflow/outflow means 20 equipped with a solenoid valve 27, and the like. In a lifting state of the foot mechanism 6, inflow of the air into the bag-like member 19 is controlled, thereby controlling the final height of the bag-like member 19 in an inflated state to the height in response to a gait type of the robot. While properly reducing an impact load during a landing motion of the leg of a legged mobile robot depending on the gait type of the robot, stability of a posture of the robot may easily be secured, resulting in allowing a configuration to be lighter in weight.

摘要翻译： 一种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的底面侧设置有可膨胀的袋状构件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装有电磁阀27的流入/流出装置20流入和流出袋状构件19。 在脚部机构6的提升状态下，空气进入袋状部件19的流入被控制，从而根据步态类型控制囊状部件19处于膨胀状态的最终高度至高度 机器人。 根据机器人的步态类型，在腿式移动机器人的脚的着陆运动期间恰当地减小冲击负荷的同时，可以容易地确保机器人姿势的稳定性，从而允许配置更轻。

公开(公告)号：US20070135966A1

公开(公告)日：2007-06-14

申请号：US11608021

申请日：2006-12-07

申请人： Yuichiro Kawaguchi ,  Taro Yokoyama ,  Tomoki Watabe ,  Minami Asatani

发明人： Yuichiro Kawaguchi ,  Taro Yokoyama ,  Tomoki Watabe ,  Minami Asatani

IPC分类号： G06F19/00

CPC分类号： G06N3/008 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D2201/0217

摘要： When there is an object that has a possibility to come into contact with a robot 1 in a desired path, the robot 1 is decelerated stepwise according to the distance L from the robot 1 to a predicted contact position along the desired path. For example, legs 13 and the like of the robot 1 are so controlled that when the distance L is less than a first threshold L1, the moving speed is reduced to a first speed V1, and when the distance L is less than a second threshold lower than the first threshold, the moving speed is reduced from the first speed to a second speed.

摘要翻译： 当存在能够以期望的路径与机器人1接触的对象时，机器人1根据从机器人1到期望路径的预测接触位置的距离L而逐步减速。 例如，机器人1的腿部13等被控制为当距离L小于第一阈值L 1时，移动速度被降低到第一速度V 1 并且当距离L小于低于第一阈值的第二阈值时，移动速度从第一速度降低到第二速度。

公开(公告)号：US20070135962A1

公开(公告)日：2007-06-14

申请号：US11635041

申请日：2006-12-07

申请人： Koji Kawabe ,  Satoki Matsumoto ,  Sachie Hashimoto ,  Taro Yokoyama ,  Yoko Saito

发明人： Koji Kawabe ,  Satoki Matsumoto ,  Sachie Hashimoto ,  Taro Yokoyama ,  Yoko Saito

IPC分类号： G06F7/00 ,  G05B19/00 ,  G08B13/14 ,  G06F19/00

CPC分类号： G10L13/00 ,  G01S17/74 ,  G01S19/49 ,  G06K9/00221 ,  G10L15/26

摘要： A robot recording a message on a wireless tag which includes: a voice recognition unit recognizing a voice input by a voice input unit which inputs a voice of a person; a message extraction unit extracting the message from the vice recognized by the voice recognition unit based on a fixed phrase provided for obtaining a message; a recording unit recording the message extracted by the message extraction unit on the wireless tag provided on an object.

摘要翻译： 一种在无线标签上记录消息的机器人，包括：语音识别单元，识别由输入人的声音的语音输入单元输入的语音; 消息提取单元，基于为获取消息而提供的固定短语，从所述语音识别单元识别出的所述副本中提取所述消息; 记录单元，将由消息提取单元提取的消息记录在设置在对象上的无线标签上。

公开(公告)号：US20060142896A1

公开(公告)日：2006-06-29

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： G06F19/00

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

摘要： The present invention aims to provide an item-carrying system in which a robot can perform an item-receiving motion without giving the human a sense of discomfort when receiving it from the human. The item-carrying system comprises: a robot comprising: a gripping portion for gripping an item and can open/close; 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; and autonomous movement means; and receiving/passing motion deciding means 240 for deciding a motion of the robot in an item receiving/passing operation, the system receiving/passing the item with the gripping portion, wherein the receiving/passing motion deciding means 240 comprises: means for determining to start receiving an item 243 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 that determines the completion of an item-receiving motion on the basis of at least one of an external force detected by the external force detecting means and an opening-degree detected by the opening-degree detecting means, during the receiving motion.

摘要翻译： 本发明的目的在于提供一种携带物品的系统，其中机器人可以执行物品接收运动，而不会给人类从人体接收到不适感。 所述物品承载系统包括：机器人，其包括：用于夹紧物品并可以打开/关闭的夹持部分; 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240，用于在项目接收/通过操作中决定机器人的运动，系统通过抓握部分接收/通过该项目，其中接收/通过运动决定装置240包括：用于确定 如果外力检测装置已经检测到不小于第一预定值的外力，则当夹紧部分不夹持物品时，开始接收使夹持部分开始接收运动的物品243; 以及用于基于由外力检测装置检测到的外力和由开度检测检测到的开度确定接收运动的完成来确定物品接收运动的完成的装置， 意味着在接收动议期间。

公开(公告)号：US20060129278A1

公开(公告)日：2006-06-15

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： G06F19/00

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：US20050120820A1

公开(公告)日：2005-06-09

申请号：US10499116

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： A63H11/18 ,  B25J5/00 ,  B25J19/00 ,  B62D57/02 ,  B62D57/032 ,  F16F9/04 ,  F16F15/023 ,  G05G11/00 ,  G05G13/00

CPC分类号： B62D57/032 ,  B25J19/0091 ,  B62D57/02 ,  F16F9/0481 ,  F16F15/023 ,  Y10T74/20299

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 (variable capacity element) is provided at a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. The air in atmosphere may flow into and out of the bag-like member 19 by inflow/outflow means 20 equipped with a solenoid valve 27, and the like. In a lifting state of the foot mechanism 6, inflow of the air into the bag-like member 19 is controlled, thereby controlling the final height of the bag-like member 19 in an inflated state to the height in response to a gait type of the robot. While properly reducing an impact load during a landing motion of the leg of a legged mobile robot depending on the gait type of the robot, stability of a posture of the robot may easily be secured, resulting in allowing a configuration to be lighter in weight.

摘要翻译： 一种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的底面侧设置有可膨胀的袋状构件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装有电磁阀27的流入/流出装置20流入和流出袋状构件19。 在脚部机构6的提升状态下，空气进入袋状部件19的流入被控制，从而根据步态类型控制囊状部件19处于膨胀状态的最终高度至高度 机器人。 根据机器人的步态类型，在腿式移动机器人的脚的着陆运动期间恰当地减小冲击负荷的同时，可以容易地确保机器人的姿势的稳定性，从而允许配置更轻。

公开(公告)号：US20050011685A1

公开(公告)日：2005-01-20

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： A63H11/18 ,  B25J5/00 ,  B25J19/00 ,  B62D57/032 ,  F16F9/04 ,  B62D51/06

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。在腿部的着陆运动期间，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。