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1.发明申请Robot device , legged locomotion robot operation control device and operation control method, legged locomotion robot sensor system, and locomotion device 有权机器人装置，腿式运动机器人操作控制装置和操作控制方法，腿式运动机器人传感器系统和运动装置公开(公告)号：US20050240307A1
公开(公告)日：2005-10-27
申请号：US10508062
申请日：2003-03-18
IPC分类号： B25J13/08 , B62D57/02 , B62D57/032 , G06F19/00
CPC分类号： B62D57/02 , B25J13/085 , B25J13/088 , B62D57/032
摘要： The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.
摘要翻译： 作为局部坐标的原点的机器人作为受控对象点的腰部被设定为局部坐标的原点，加速度传感器设置在受控对象点处，以直接测量姿态和加速度 该位置控制机器人在ZMP的基础上采取稳定的姿势。 此外，在接触步行面的每个脚处，设置有地板反作用力传感器和加速度传感器，以直接测量ZMP和力，并且ZMP方程式直接配制在最靠近ZMP位置的脚处。 因此，可以实现对于稳定姿态的机器人的更严格和快速的控制。
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公开(公告)号：US07664569B2
公开(公告)日：2010-02-16
申请号：US10498149
申请日：2003-10-10
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A ZMP equilibrium equation stating the relationship of various moments applied to a robot body of a robot, based on desirable motion data made up by trajectories of respective parts, imaginarily divided from the robot body, is generated, and moment errors in a ZMP equilibrium equation are calculated. A priority sequence of the parts, the target trajectories of which are corrected to cancel out the moment errors, is set. The target trajectories are corrected from one part to another, in a sequence corresponding to the priority sequence, to compensate the moment errors.
摘要翻译： 基于由机器人本体划分的各部分的轨迹构成的理想运动数据，生成了施加到机器人的机器人主体的各种力矩的关系的ZMP平衡方程，并且产生ZMP平衡方程中的力矩误差 被计算。 设置修正目标轨迹以抵消力矩误差的部件的优先顺序。 将目标轨迹从对应于优先顺序的序列中的一部分修正为另一部分，以补偿力矩误差。
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公开(公告)号：US07881824B2
公开(公告)日：2011-02-01
申请号：US10508062
申请日：2003-03-18
CPC分类号： B62D57/02 , B25J13/085 , B25J13/088 , B62D57/032
摘要： The lumbar part of a robot as a controlled-object point where the mass amount becomes maximum is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.
摘要翻译： 将作为质量量变为最大的受控对象点的机器人的腰部设定为局部坐标的原点，将加速度传感器设置在受控对象点处，以直接测量该位置处的姿态和加速度 控制机器人在ZMP的基础上采取稳定的姿势。 此外，在接触步行面的每个脚处，设置有地板反作用力传感器和加速度传感器，以直接测量ZMP和力，并且ZMP方程式直接配制在最靠近ZMP位置的脚处。 因此，可以实现对于稳定姿态的机器人的更严格和快速的控制。
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公开(公告)号：US20050165507A1
公开(公告)日：2005-07-28
申请号：US10498149
申请日：2003-10-10
IPC分类号： B62D57/032 , G06F19/00
CPC分类号： B62D57/032
摘要： A ZMP equilibrium equation stating the relationship of various moments applied to a robot body of a robot, based on desirable motion data made up by trajectories of respective parts, imaginarily divided from the robot body, is generated, and moment errors in a ZMP equilibrium equation are calculated. A priority sequence of the parts, the target trajectories of which are corrected to cancel out the moment errors, is set. The target trajectories are corrected from one part to another, in a sequence corresponding to the priority sequence, to compensate the moment errors.
摘要翻译： 基于由机器人本体划分的各部分的轨迹构成的理想运动数据，生成了施加到机器人的机器人主体的各种力矩的关系的ZMP平衡方程，并且产生ZMP平衡方程中的力矩误差 被计算。 设置修正目标轨迹以抵消力矩误差的部件的优先顺序。 将目标轨迹从对应于优先顺序的序列中的一部分修正为另一部分，以补偿力矩误差。
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5.发明申请Robot device, movement controlling apparatus and method for legged locomotion robot, sensor system for legged locomotion robot, and mobile unit 有权机器人装置，腿式运动机器人的运动控制装置和方法，腿式运动机器人的传感器系统和移动单元公开(公告)号：US20110077775A1
公开(公告)日：2011-03-31
申请号：US12883615
申请日：2010-09-16
IPC分类号： B25J9/06
CPC分类号： B62D57/02 , B25J13/085 , B25J13/088 , B62D57/032
摘要： The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.
摘要翻译： 作为局部坐标的原点的机器人作为受控对象点的腰部被设定为局部坐标的原点，加速度传感器设置在受控对象点处，以直接测量姿态和加速度 该位置控制机器人在ZMP的基础上采取稳定的姿势。 此外，在接触步行面的每个脚处，设置有地板反作用力传感器和加速度传感器，以直接测量ZMP和力，并且ZMP方程式直接配制在最靠近ZMP位置的脚处。 因此，可以实现对于稳定姿态的机器人的更严格和快速的控制。
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6.发明授权Robot device, movement controlling apparatus and method for legged locomotion robot, sensor system for legged locomotion robot, and mobile unit 有权机器人装置，腿式运动机器人的运动控制装置和方法，腿式运动机器人的传感器系统和移动单元公开(公告)号：US08612052B2
公开(公告)日：2013-12-17
申请号：US12883615
申请日：2010-09-16
CPC分类号： B62D57/02 , B25J13/085 , B25J13/088 , B62D57/032
摘要： The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.
摘要翻译： 作为局部坐标的原点的机器人作为受控对象点的腰部被设定为局部坐标的原点，加速度传感器设置在受控对象点处，以直接测量姿态和加速度 该位置控制机器人在ZMP的基础上采取稳定的姿势。 此外，在接触步行面的每个脚处，设置有地板反作用力传感器和加速度传感器，以直接测量ZMP和力，并且ZMP方程式直接配制在最靠近ZMP位置的脚处。 因此，可以实现对于稳定姿态的机器人的更严格和快速的控制。
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公开(公告)号：US09242599B2
公开(公告)日：2016-01-26
申请号：US14001635
申请日：2012-02-03
申请人： Satoru Shimizu , Masahiro Akiba , Ryuji Akiba , Kazuhiko Tanaka
发明人： Satoru Shimizu , Masahiro Akiba , Ryuji Akiba , Kazuhiko Tanaka
CPC分类号： B60Q5/008 , B60L2270/42 , B60Q1/0017 , B62J3/00 , B62K2202/00 , B62K2204/00 , G10K9/22 , G10K11/004
摘要： A vehicle approach alert device for a saddle-ridden electric vehicle is a vehicle approach alert device for a saddle-ridden electric vehicle that is provided with a sound emitter that is attached on the vehicle body of a saddle-ridden electric vehicle having an electric motor in a power engine, and that emits an alert sound to a surrounding area for notifying the surrounding area of approach of the saddle-ridden electric vehicle, such that sound emission of the sound emitter is controlled, and the sound emitter is arranged so that the direction of sound emission is oriented diagonally downward and forward of the saddle-ridden electric vehicle.
摘要翻译： 用于骑马式电动车辆的车辆接近警报装置是用于骑乘式电动车辆的车辆接近警报装置，其具有安装在具有电动马达的骑马式电动车辆的车体上的发声器 在电力发动机中，向周围区域发出警报声音，以通知骑乘式电动车辆的周边区域，使得发声器的声音发射被控制，并且发声器被布置成使得 发声方向朝向骑马式电动汽车的向下和向前方向。
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公开(公告)号：US08573590B2
公开(公告)日：2013-11-05
申请号：US12644548
申请日：2009-12-22
申请人： Satoru Shimizu , Zen Kayaba
发明人： Satoru Shimizu , Zen Kayaba
IPC分类号： B65H31/00
CPC分类号： B65H37/04 , B65H31/00 , B65H2405/1113 , B65H2405/22 , B65H2801/27
摘要： In a sheet finisher which receives a sheet from an image forming apparatus, conducts a sheet finishing onto the sheet and feeds out the sheet, the sheet finisher includes: a stacking section which stores temporarily one or more sheets; and a sheet finishing section which conducts the sheet finishing onto the sheet stored in the stacking section. The stacking section having a first guide member which forms a stacking surface to guide the sheet, and a second guide member which faces the first guide member and is spaced apart from the first guide member by a predetermined distance, and is provided obliquely from a horizontal direction, and the stacking surface formed by at least a part of the first guide member, is formed to be curved in a direction perpendicular to a sheet conveyance direction.
摘要翻译： 在从图像形成装置接收片材的片材整理器中，将片材整理导入片材并送出片材，片材整理器包括：临时存储一个或多个片材的堆叠部分; 以及将片材精加工到存储在堆叠部中的片材上的片材整理部。 所述堆叠部分具有形成用于引导所述片材的层叠表面的第一引导部件和与所述第一引导部件相对并与所述第一引导部件间隔开预定距离的第二引导部件， 方向和由第一引导构件的至少一部分形成的堆叠表面形成为在与片材输送方向垂直的方向上弯曲。
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9.发明授权Plant control apparatus and method having functions of determining appropriate learning constraint conditions 有权具有确定适当的学习约束条件的功能的植物控制装置和方法公开(公告)号：US08095479B2
公开(公告)日：2012-01-10
申请号：US11624416
申请日：2007-01-18
申请人： Takaaki Sekiai , Satoru Shimizu , Eiichi Kaminaga , Akihiro Yamada , Yoshiharu Hayashi , Naohiro Kusumi , Masayuki Fukai
发明人： Takaaki Sekiai , Satoru Shimizu , Eiichi Kaminaga , Akihiro Yamada , Yoshiharu Hayashi , Naohiro Kusumi , Masayuki Fukai
IPC分类号： G06F15/18
CPC分类号： G05B13/048
摘要： There is provided a control apparatus including a function of generating an operation signal applied to a control subject and a model that simulates characteristics of the control subject, a function of receiving an evaluation value signal calculated based on a measurement signal obtained by applying the operation signal to the control subject and the model, and a function of learning to generate the operation signal such that an expected value of the sum of the evaluation value signals obtained from a present state to a future state is either maximum or minimum in which the evaluation value signal calculated based on the measurement signal from the model is calculated by adding a first evaluation value obtained based on a deviation between the measurement signal obtained from the model and a setpoint value, and a second evaluation value obtained based on a difference in characteristics between the model and the control subject.
摘要翻译： 提供了一种控制装置，包括产生施加到控制对象的操作信号和模拟控制对象的特性的模型的功能，接收基于通过应用操作信号而获得的测量信号计算的评估值信号的功能 控制主体和模型的功能，以及学习生成操作信号的功能，使得从当前状态到未来状态获得的评估值信号的和的期望值是最大值或最小值，其中评估值 通过添加基于从模型获得的测量信号与设定值之间的偏差获得的第一评估值和基于来自模型的特性差异获得的第二评估值来计算基于来自模型的测量信号计算的信号 模型和控制科目。
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公开(公告)号：US20110108345A1
公开(公告)日：2011-05-12
申请号：US13002009
申请日：2009-06-24
申请人： Satoru Shimizu , Takumi Sakamoto
发明人： Satoru Shimizu , Takumi Sakamoto
CPC分类号： F01N1/165 , F01N1/085 , F01N2240/36 , F01N2590/04 , F02D9/1065 , F02D11/02 , F02D11/04
摘要： A two-wheeled motor vehicle (10) provided with a throttle grip (25) rotated by the driver to change the degree of opening of a throttle valve (31), and also with an exhaust valve (34) which, when a throttle ratio which is a ratio of the angle of operation of the throttle grip to the maximum rotation angle of the throttle grip is between zero and a predetermined value, reduces noise emitted from an engine.
摘要翻译： 具有由驾驶员旋转以改变节气门（31）的开度的节气门手柄（25）的两轮机动车辆（10），以及排气阀（34），当排气门 节气门手柄的操作角度与节气门手柄的最大旋转角度的比值在零和预定值之间，这降低了从发动机排出的噪音。
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