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公开(公告)号：US20060138988A1
公开(公告)日：2006-06-29
申请号：US10521773
申请日：2003-07-18
申请人： Kenji Kaneko , Fumio Kanehiro , Kazuhiro Yokoi , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
发明人： Kenji Kaneko , Fumio Kanehiro , Kazuhiro Yokoi , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
IPC分类号： G05B11/01
CPC分类号： B62D57/032 , G01C21/16 , G05D1/0891
摘要： By providing a moving body with a high-accuracy attitude detection mechanism including a pair of a first rate gyroscope for detecting the attitude of the moving body and a second rate gyroscope which obtains an output inverted from that of the first rate gyroscope and the variations in the outputs of the rate gyroscopes are mutually compensated for, thereby accurately detecting the attitude information of the moving body.
摘要翻译： 通过提供具有高精度姿态检测机构的移动体，该机构包括一对用于检测移动体的姿态的第一速率陀螺仪和获得与第一速率陀螺仪的输出相反的输出的第二速率陀螺仪， 速率陀螺仪的输出被相互补偿，从而准确地检测移动体的姿态信息。
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公开(公告)号：US20050166687A1
公开(公告)日：2005-08-04
申请号：US10500853
申请日：2003-01-17
申请人： Kenji Kaneko , Kazuhito Yokoi , Shuuji Kajita , Fumio Kanehiro , Kiyoshi Fujiwara , Hirohisa Hirukawa , Shigehiko Ota , Toshikazu Kawasaki , Kazuhiko Akachi , Takakatsu Isozumi
发明人： Kenji Kaneko , Kazuhito Yokoi , Shuuji Kajita , Fumio Kanehiro , Kiyoshi Fujiwara , Hirohisa Hirukawa , Shigehiko Ota , Toshikazu Kawasaki , Kazuhiko Akachi , Takakatsu Isozumi
CPC分类号： G01G23/005 , G01L1/26
摘要： A method for detecting a low rigid force and a device therefor are provided in that even a large impact force is applied, by integrating an impact absorbing unit with the force detection mechanism, a force detection mechanism may not be damaged. To that end, between a pair of substrates 2a and 2b opposing each other and undergoing displacement in a direction changing the space between them by an impact force applied thereto, at least one absorption detection mechanism 3 integrally including an impact absorbing unit 4 and a force detecting unit 5 is interposed, so that a force applied between both the substrates 2a and 2b is detected by the force detecting unit 5 while an impact force applied between both the substrates 2a and 2b being absorbed by an elastic force of the impact absorbing unit 4.
摘要翻译： 提供了一种用于检测低刚性力的方法及其装置，其特征在于，即使施加较大的冲击力，通过将冲击吸收单元与力检测机构相集成，力检测机构也不会被损坏。 为此，在一对彼此相对的基板2a和2b之间，通过施加到其上的冲击力沿着改变它们之间的空间的方向发生位移;至少一个吸收检测机构3，其一体地包括冲击吸收单元4和 插入力检测单元5，使得通过力检测单元5检测施加在两个基板2a和2b之间的力，同时施加在两个基板2a和2b之间的冲击力被弹性力吸收 的冲击吸收单元4。
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公开(公告)号：US20050240308A1
公开(公告)日：2005-10-27
申请号：US10511608
申请日：2003-05-07
申请人： Kenji Kaneko , Kazuhiko Yokoi , Fumio Kanehiro , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
发明人： Kenji Kaneko , Kazuhiko Yokoi , Fumio Kanehiro , Shuuji Kajita , Kiyoshi Fujiwara , Hirohisa Hirukawa
IPC分类号： B25J13/00 , B25J5/00 , B62D57/032 , G06F19/00
CPC分类号： B62D57/032
摘要： The present invention provides a walking control method and a walking control apparatus for achieving stable attitude control of a legged robot. In the walking control of the legged robot, basically, a foot-sole coordinate system based on sole positions and having at least a first coordinate axis in a direction connecting soles of both legs and a second coordinate axis perpendicular to the first coordinate axis in a horizontal plane is used as a control coordinate system, and attitude control is performed with different control characteristics for the first and second coordinate axes. Accordingly, the legged robot includes sole position sensors for detecting the sole positions of ground-contacting legs, ground contact sensors for detecting the state of the ground-contacting legs or a motion controller for generating the state of the ground-contacting legs, a control device which performs the walking control using a coordinate system based on the direction connecting the soles of the legs as a control coordinate system in accordance with the detected sole positions and the state of the ground-contacting legs, and leg actuators controlled by the control device.
摘要翻译： 本发明提供了一种用于实现腿式机器人的稳定姿态控制的步行控制方法和步行控制装置。 在腿式机器人的步行控制中，基本上是基于鞋底位置的脚底坐标系，并且在与第一坐标轴垂直的方向上具有至少第一坐标轴和第二坐标轴的坐标轴 水平面用作控制坐标系，并且对于第一和第二坐标轴执行具有不同控制特性的姿态控制。 因此，腿式机器人包括用于检测地面接触腿的唯一位置的底部位置传感器，用于检测地面接触腿的状态的接地接触传感器或用于产生接地腿的状态的运动控制器， 装置，其使用基于根据检测到的底部位置和接地腿的状态的腿的腿部的方向作为控制坐标系的坐标系执行步行控制，以及由控制装置控制的腿致动器 。
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公开(公告)号：US20050267630A1
公开(公告)日：2005-12-01
申请号：US10529252
申请日：2003-09-17
申请人： Shuuji Kajita , Fumio Kanehiro , Kenji Kaneko , Kiyoshi Fujiwara , Kensuke Harada , Kazuhito Yokoi , Hirohisa Hirukawa
发明人： Shuuji Kajita , Fumio Kanehiro , Kenji Kaneko , Kiyoshi Fujiwara , Kensuke Harada , Kazuhito Yokoi , Hirohisa Hirukawa
IPC分类号： B25J5/00 , B62D57/032 , G05D1/02 , G06F19/00
CPC分类号： B62D57/032
摘要： An object of the present invention is to provide a gait pattern generating device by which a gait pattern of a robot such as a humanoid bipedal walking robot having a structure easy to fall down can be generated easily in real time. This device calculates a driving quantity of the center of gravity in one moment using a preview control method based on feedback of the motion state of the center of gravity in that moment, and feed-forward of a future ZMP trajectory up to a few seconds from that moment. Next, the robot is driven to obtain the obtained center-of-gravity trajectory. Thus, a walking motion is attained.
摘要翻译： 本发明的目的是提供一种步态模式生成装置，通过该步态模式生成装置，可以容易地实时地生成具有易于掉落的结构的人形双足行走机器人的机器人的步态图案。 该装置使用基于该时刻的重心的运动状态的反馈的预览控制方法以及将来的ZMP轨迹的前馈直到几秒钟来一次计算重心的驱动量 那一刻。 接下来，驱动机器人以获得获得的重心轨迹。 因此，获得了步行运动。
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公开(公告)号：US20060011391A1
公开(公告)日：2006-01-19
申请号：US10513827
申请日：2003-05-07
申请人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
发明人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
IPC分类号： B62D51/06
CPC分类号： B62D57/032 , B25J19/0091
摘要： A supplementary support structure, which supports the body of a robot (1), comprises a contact component (7) which is disposed in a part near a joint (2c) on the distal end, having a hand (3) disposed thereon, of an arm (2) of the robot (1) so as to come into contact with a surface on which the robot (1) is supported, such as a floor surface, and a member which lies between the part having the contact component (7) disposed therein and the proximal end of the arm (2). Thus, the supplementary support structure can avoid an increase in the weight of the hand resulting from the support structure, thus eliminate an extra load on a driving system for the hand or the arm, and thus achieve the simplification and size reduction of the driving system. Moreover, the support structure can increase the degree of freedom of the shape or functional design of the hand and thus improve the functioning of the robot.
摘要翻译： 一种辅助支撑结构，其支撑机器人（1）的主体，包括接触部件（7），其设置在远端上的接头（2c）附近的部分中，具有设置在其上的手（3） （1）的臂（2）与支撑机器人（1）的表面（例如地板表面）接触并且位于具有接触部件的部件之间的部件（ 7）和臂（2）的近端。 因此，辅助支撑结构可以避免由支撑结构产生的手的重量的增加，从而消除用于手或臂的驱动系统的额外的负载，并且因此实现驱动系统的简化和减小尺寸 。 此外，支撑结构可以增加手的形状或功能设计的自由度，从而改善机器人的功能。
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公开(公告)号：US07896112B2
公开(公告)日：2011-03-01
申请号：US10513827
申请日：2003-05-07
申请人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
发明人： Takakatsu Isozumi , Masakazu Ishizaki , Tadaaki Osawa , Kazuhiko Akachi , Kenji Kaneko , Fumio Kanehiro , Kiyoshi Fujiwara
IPC分类号： B62D51/06
CPC分类号： B62D57/032 , B25J19/0091
摘要： A supplementary support structure, which supports the body of a robot (1), comprises a contact component (7) which is disposed in a part near a joint (2c) on the distal end, having a hand (3) disposed thereon, of an arm (2) of the robot (1) so as to come into contact with a surface on which the robot (1) is supported, such as a floor surface, and a member which lies between the part having the contact component (7) disposed therein and the proximal end of the arm (2). Thus, the supplementary support structure can avoid an increase in the weight of the hand resulting from the support structure, thus eliminate an extra load on a driving system for the hand or the arm, and thus achieve the simplification and size reduction of the driving system. Moreover, the support structure can increase the degree of freedom of the shape or functional design of the hand and thus improve the functioning of the robot.
摘要翻译： 一种辅助支撑结构，其支撑机器人（1）的主体，包括接触部件（7），该接触部件设置在远端上的接头（2c）附近，具有设置在其上的手（3） 所述机器人（1）的臂（2）与所述机器人（1）所支撑的表面（例如地板表面）接触，并且所述部件位于具有所述接触部件（7） ）和臂（2）的近端。 因此，辅助支撑结构可以避免由支撑结构产生的手的重量的增加，从而消除用于手或臂的驱动系统的额外的负载，并且因此实现驱动系统的简化和减小尺寸 。 此外，支撑结构可以增加手的形状或功能设计的自由度，从而改善机器人的功能。
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公开(公告)号：US5674678A
公开(公告)日：1997-10-07
申请号：US205603
申请日：1988-06-02
CPC分类号： C12P21/02 , C12N1/38 , C12N15/70 , C12N9/2471 , C12Y302/01023 , C07K2319/00 , C07K2319/02
摘要： Expression of a desired gene and production of a product from the desired gene can be obtained effectively by cultivating a microorganism containing a hybrid plasmid comprising the desired gene, a vector and a promoter in its cell, and adding an inducer and a nutriment simultaneously to the culture medium at the time when the nutriment originally present in the culture medium is almost consumed.
摘要翻译： 可以通过在其细胞中培养含有所需基因，载体和启动子的杂交质粒的微生物，同时向其中添加诱导剂和营养物，从而有效地获得所需基因的表达和产生所需基因的产物 培养基中最初存在于培养基中的营养物几乎被消耗时的培养基。
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公开(公告)号：US4698142A
公开(公告)日：1987-10-06
申请号：US760940
申请日：1985-07-31
申请人： Katsumi Muroi , Kosai Hiratsuka , Shoji Yoshinaga , Toji Nakatsui , Chikao Oda , Kiyoshi Fujiwara
发明人： Katsumi Muroi , Kosai Hiratsuka , Shoji Yoshinaga , Toji Nakatsui , Chikao Oda , Kiyoshi Fujiwara
IPC分类号： B01D57/02 , G01N27/447 , G01N27/28 , G01N27/26
CPC分类号： G01N27/44769 , B01D57/02
摘要： The invention discloses a free-flow electrophoretic separation method and apparatus for separating charged substances such as proteins, cells, and the like, by electrophoresis, which comprises supplying a mixed solution containing the charged substances to be separated, which are dissolved in a separation buffer, into a separation chamber, circulating the mixed solution inside the separation chamber, applying a d.c. voltage to the mixed solution to cause the electrophoresis of the charged substances and to separate them, and withdrawing the charged substances thus separated from outlets disposed at one and the other end of the separation chamber.
摘要翻译： 本发明公开了一种通过电泳分离带电物质如蛋白质，细胞等的自由流动电泳分离方法和装置，其包括将含有待分离的带电物质的混合溶液加入到分离缓冲液 进入分离室，使分离室内的混合溶液循环，施加直流 向混合溶液施加电压以引起带电物质的电泳并将其分离，并且从这些与分离室一端和另一端的出口分离的带电物质取出。
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9.发明授权Fuel injection control apparatus and fuel injection control method for internal combustion engine 有权用于内燃机的燃料喷射控制装置和燃料喷射控制方法公开(公告)号：US08131449B2
公开(公告)日：2012-03-06
申请号：US12530966
申请日：2008-07-18
CPC分类号： F02D41/345 , F02D41/401 , F02D2250/04 , Y02T10/44
摘要： A fuel injection valve coupled to a common rail is provided. When fuel injection is carried out, the fuel pressure in the fuel injection valve pulsates. An interval between a pilot injection and a main injection is set so that the main injection is carried out at a zero gradient timing as a timing when the gradient of the fuel pressure in the fuel injection valve after the pilot injection is approximately equal to zero. Owing to a fuel injection control apparatus and a fuel injection control method for an internal combustion engine that perform the above-mentioned control, the fuel injection amount for the subsequent fuel injection following the preceding fuel injection can be reliably held equal to a normal amount.
摘要翻译： 提供了一种联接到共轨的燃料喷射阀。 当进行燃料喷射时，燃料喷射阀中的燃料压力脉动。 引燃喷射和主喷射之间的间隔被设定为使得主喷射在零梯度时刻执行，作为在先导喷射之后的燃料喷射阀中的燃料压力的梯度近似等于零的时刻。 由于执行上述控制的燃料喷射控制装置和用于内燃机的燃料喷射控制方法，可以可靠地保持与先前燃料喷射之后的后续燃料喷射的燃料喷射量等于正常量。
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10.发明申请公开(公告)号：US20100116243A1
公开(公告)日：2010-05-13
申请号：US12530966
申请日：2008-07-18
CPC分类号： F02D41/345 , F02D41/401 , F02D2250/04 , Y02T10/44
摘要： A fuel injection valve coupled to a common rail is provided. When fuel injection is carried out, the fuel pressure in the fuel injection valve pulsates. An interval between a pilot injection and a main injection is set so that the main injection is carried out at a zero gradient timing as a timing when the gradient of the fuel pressure in the fuel injection valve after the pilot injection is approximately equal to zero. Owing to a fuel injection control apparatus and a fuel injection control method for an internal combustion engine that perform the above-mentioned control, the fuel injection amount for the subsequent fuel injection following the preceding fuel injection can be reliably held equal to a normal amount.
摘要翻译： 提供了一种联接到共轨的燃料喷射阀。 当进行燃料喷射时，燃料喷射阀中的燃料压力脉动。 引燃喷射和主喷射之间的间隔被设定为使得主喷射在零梯度时刻执行，作为在先导喷射之后的燃料喷射阀中的燃料压力的梯度近似等于零的时刻。 由于执行上述控制的燃料喷射控制装置和用于内燃机的燃料喷射控制方法，可以可靠地保持与先前燃料喷射之后的后续燃料喷射的燃料喷射量等于正常量。
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