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    Walking type moving device and walking control device therefor and walking control method
    1.
    发明申请
    Walking type moving device and walking control device therefor and walking control method 审中-公开
    步行式移动装置及步行控制装置及步行控制方法

    公开(公告)号：US20050171635A1

    公开(公告)日：2005-08-04

    申请号：US10517377

    申请日：2003-06-04

    申请人： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano ,  Masaharu Shimizu

    发明人： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano ,  Masaharu Shimizu

    IPC分类号： A63H11/18 ,  B25J5/00 ,  B25J13/08 ,  B62D57/032 ,  G06F19/00

    CPC分类号： B25J13/085 ,  B62D57/032

    摘要： A walk controller (30) to drive-control drive means of respective joint portions (15L, 15R to 20L, 20R) of respective leg portions (13L, 13R) based on gait data comprises force sensors (23L, 23R) to detect forces applied to the soles of respective foot portions (14L, 14R), and a compensation part (32) to adjust the gait data from a gait forming part (24) based on horizontal floor reaction force among the forces detected by the force sensors, respective force sensor parts (23L, 23R) comprises 3-axis force sensors (36a to 36d) provided to respective parts of soles divided into a plurality at respective foot portions (14L, 14R), a contact detection part (32b) detects a contact of foot sides by the force sensors provided to regions next to end edges of respective soles, and the compensation part (32) adjusts the gait data from the gait forming part (24) referring to the contact of foot sides, and thereby the contact of foot sides to such a matter as an obstacle is detected, and a walk stability is realized.

    摘要翻译： 基于步态数据，用于基于步态数据的各个脚部（13L，13R）的各接合部（15L，15R〜20L，20R）的驱动控制驱动装置的行走控制器（30）包括力传感器 ，23R），用于检测施加到各脚部（14L，14R）的鞋底的力;以及补偿部（32），根据步行形成部（24）的步行数据， 由力传感器检测到的力，各自的力传感器部件（23L，23R）包括设置在各个脚部分（14L，23R）上的多个鞋底部分的三轴力传感器（36a至36d） 14R）中，接触检测部（32b）通过设置在各个鞋底的端部边缘附近的区域的力传感器检测脚侧的接触，补偿部（32）从步态形成部（32b） 24）指脚侧面的接触，从而使脚侧与诸如ob的接触 检测到突破，实现步行稳定。

    Car
    4.
    发明申请
    Car 有权
    汽车

    公开(公告)号：US20070035109A1

    公开(公告)日：2007-02-15

    申请号：US11454051

    申请日：2006-06-14

    申请人： Shunji Yamanaka ,  Takayuki Furuta ,  Masaharu Shimizu ,  Hideaki Yamato ,  Yu Okumura ,  Tetsuo Tawara ,  Masaki Shimomura ,  Ken Endo

    发明人： Shunji Yamanaka ,  Takayuki Furuta ,  Masaharu Shimizu ,  Hideaki Yamato ,  Yu Okumura ,  Tetsuo Tawara ,  Masaki Shimomura ,  Ken Endo

    IPC分类号： B60N2/62

    CPC分类号： B62D47/00 ,  A63G25/00 ,  A63H17/262 ,  B60B19/00 ,  B60B37/00 ,  B60G3/20 ,  B60G2200/144 ,  B60G2200/44 ,  B60G2300/07 ,  B60G2300/37 ,  B60G2300/40 ,  B60Y2200/11 ,  B62D61/10 ,  B62D61/12

    摘要： A car includes a car body having a bottom portion, a wheel that is rotatable, and a supporting member for supporting the wheel, the supporting member being provided to the bottom portion. At least eight pairs of the wheel and the supporting member are provided. The supporting member has a first supporting portion for supporting the wheel rotatably, a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion. The turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state that the distance is maintained.

    摘要翻译： 汽车包括具有底部的车身，可旋转的车轮和用于支撑车轮的支撑构件，支撑构件设置在底部。 提供至少八对车轮和支撑构件。 支撑构件具有用于可旋转地支撑车轮的第一支撑部分，用于支撑第一支撑部分的第二支撑部分，使得可以改变由第一支撑部分支撑的车轮的方向;以及转动部分，其可绕 旋转轴线沿其轴向方向沿着与底部垂直的方向，转向部分设置在底部。 转向部分支撑第二支撑部分，使得可以改变车轮和底部之间的距离，并且在保持距离的状态下可以通过转动部分的旋转来移动车轮的位置。

    CAR
    5.
    发明申请
    CAR 审中-公开
    汽车

    公开(公告)号：US20100230186A1

    公开(公告)日：2010-09-16

    申请号：US12708553

    申请日：2010-02-19

    申请人： Shunji Yamanaka ,  Takayuki Furuta ,  Masaharu Shimizu ,  Hideaki Yamato ,  Yu Okumura ,  Tetsuo Tawara ,  Masaki Shimomura ,  Ken Endo

    发明人： Shunji Yamanaka ,  Takayuki Furuta ,  Masaharu Shimizu ,  Hideaki Yamato ,  Yu Okumura ,  Tetsuo Tawara ,  Masaki Shimomura ,  Ken Endo

    IPC分类号： B62D61/10

    CPC分类号： B62D47/00 ,  A63G25/00 ,  A63H17/262 ,  B60B19/00 ,  B60B37/00 ,  B60G3/20 ,  B60G2200/144 ,  B60G2200/44 ,  B60G2300/07 ,  B60G2300/37 ,  B60G2300/40 ,  B60Y2200/11 ,  B62D61/10 ,  B62D61/12

    摘要： A car includes a car body having a bottom portion, a wheel that is rotatable, and a supporting member for supporting the wheel, the supporting member being provided to the bottom portion. At least eight pairs of the wheel and the supporting member are provided. The supporting member has a first supporting portion for supporting the wheel rotatably, a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion. The turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state that the distance is maintained.

    摘要翻译： 汽车包括具有底部的车身，可旋转的车轮和用于支撑车轮的支撑构件，支撑构件设置在底部。 提供至少八对车轮和支撑构件。 支撑构件具有用于可旋转地支撑车轮的第一支撑部分，用于支撑第一支撑部分的第二支撑部分，使得可以改变由第一支撑部分支撑的车轮的方向;以及转动部分，其可绕 旋转轴线沿其轴向方向沿着与底部垂直的方向，转向部分设置在底部。 转向部分支撑第二支撑部分，使得可以改变车轮和底部之间的距离，并且在保持距离的状态下可以通过转动部分的旋转来移动车轮的位置。

    Car
    6.
    发明授权
    Car 有权
    汽车

    公开(公告)号：US07690448B2

    公开(公告)日：2010-04-06

    申请号：US11454051

    申请日：2006-06-14

    申请人： Shunji Yamanaka ,  Takayuki Furuta ,  Masaharu Shimizu ,  Hideaki Yamato ,  Yu Okumura ,  Tetsuo Tawara ,  Masaki Shimomura ,  Ken Endo

    发明人： Shunji Yamanaka ,  Takayuki Furuta ,  Masaharu Shimizu ,  Hideaki Yamato ,  Yu Okumura ,  Tetsuo Tawara ,  Masaki Shimomura ,  Ken Endo

    IPC分类号： B62D61/10

    CPC分类号： B62D47/00 ,  A63G25/00 ,  A63H17/262 ,  B60B19/00 ,  B60B37/00 ,  B60G3/20 ,  B60G2200/144 ,  B60G2200/44 ,  B60G2300/07 ,  B60G2300/37 ,  B60G2300/40 ,  B60Y2200/11 ,  B62D61/10 ,  B62D61/12

    摘要： A car includes a car body having a bottom portion, a wheel that is rotatable, and a supporting member for supporting the wheel, the supporting member being provided to the bottom portion. At least eight pairs of the wheel and the supporting member are provided. The supporting member has a first supporting portion for supporting the wheel rotatably, a second supporting portion for supporting the first supporting portion so that a direction of the wheel supported by the first supporting portion can be changed, and a turning portion that is rotatable about a rotation axis with its axial direction along a direction orthogonal to the bottom portion, the turning portion being provided to the bottom portion. The turning portion supports the second supporting portion so that a distance between the wheel and the bottom portion can be changed, and a position of the wheel can be moved by a rotation of the turning portion in a state that the distance is maintained.

    摘要翻译： 汽车包括具有底部的车身，可旋转的车轮和用于支撑车轮的支撑构件，支撑构件设置在底部。 提供至少八对车轮和支撑构件。 支撑构件具有用于可旋转地支撑车轮的第一支撑部分，用于支撑第一支撑部分的第二支撑部分，使得可以改变由第一支撑部分支撑的车轮的方向;以及转动部分，其可绕 旋转轴线沿其轴向方向沿着与底部垂直的方向，转向部分设置在底部。 转向部分支撑第二支撑部分，使得可以改变车轮和底部之间的距离，并且在保持距离的状态下可以通过转动部分的旋转来移动车轮的位置。