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公开(公告)号：US06332372B1
公开(公告)日：2001-12-25
申请号：US09581220
申请日：2000-06-22
申请人： Toru Takenaka , Takayuki Kawai , Tadaaki Hasegawa , Takashi Matsumoto , Hiroshi Gomi , Hideaki Takahashi
发明人： Toru Takenaka , Takayuki Kawai , Tadaaki Hasegawa , Takashi Matsumoto , Hiroshi Gomi , Hideaki Takahashi
IPC分类号： B25J906
CPC分类号： B25J9/06 , B25J17/025 , Y10T74/20329
摘要： An arm structure for anthropomorphic robots minimizes the occurrence of a singularity state of a shoulder joint assembly while the arm of the anthropomorphic robot is normally working, for thereby allowing the arm to operate smoothly. The position and posture of first through third joints (11), (13), (15) of a shoulder joint assembly (5) and the position of an elbow joint assembly (6) with respect to the third joint (15) are established such that the elbow joint assembly (6) is located above a horizontal plane lying through the point of intersection of the axes (10), (12), (14) of the first through third joints (11), (13), (15), while the shoulder joint assembly (5) is operated into a singularity state wherein the first axis (10) of the first joint (11) and the third axis (14) of the third joint (15) are aligned with each other and the elbow joint assembly (6) is positioned laterally of a torso (1).
摘要翻译： 用于拟人机器人的臂结构使人形机器人的臂正常工作时，使肩关节组件的奇点状态的发生最小化，从而允许手臂平稳地操作。 建立肩关节组件（5）的第一至第三关节（11），（13），（15）和肘关节组件（6）相对于第三关节（15）的位置和姿势 使得肘关节组件（6）位于通过第一至第三关节（11），（13），（13），（13）的轴线（10），（12），（14） 15），而肩关节组件（5）被操作成其中第一关节（11）的第一轴线（10）和第三关节（15）的第三轴线（14）彼此对准的奇点状态 并且肘关节组件（6）位于躯干（1）的侧面。
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公开(公告)号：US06401846B1
公开(公告)日：2002-06-11
申请号：US09630743
申请日：2000-08-02
IPC分类号： B62D5702
CPC分类号： B62D57/032 , B25J19/0091
摘要： In a biped walking robot having a body and two articulated legs each connected to the body through a hip joint and having a knee joint and an ankle joint, connected by a shank link, a knee pad is mounted on the shank link as a landing/shock absorbing means at a position adjacent to the knee joint which is brought into contact with the floor when coming into knee-first contact with the floor such that the knee joint is to be positioned at a location forward of the center of gravity of the robot in a direction of robot advance, while absorbing impact occurring from the contact with the floor. With this, the robot can be easily stood up from an attitude with its knee joint regions in contact with the floor. Moreover, when coming into knee-first contact with the floor, it can absorb the impact of the contact to protect the knee joint regions and the floor from damage.
摘要翻译： 在具有主体和两个铰接腿的双足步行机器人中，每个腿部通过髋关节连接到身体，并且具有通过柄连杆连接的膝关节和踝关节，膝关节垫作为着陆/ 冲击吸收装置位于与膝关节相邻的位置处，当与地板进行膝盖 - 第一次接触时，其与地板接触，使得膝关节位于机器人重心的前方位置 在机器人前进的方向上，同时吸收与地板接触发生的冲击。 这样，机器人可以容易地从与膝盖接合区域与地板接触的姿态站起来。 此外，当与地板进行膝盖首次接触时，它可以吸收接触的冲击，以保护膝关节区域和地板免受损坏。
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3.发明授权公开(公告)号：US06177776B1
公开(公告)日：2001-01-23
申请号：US09100682
申请日：1998-06-19
IPC分类号： B62D57032
CPC分类号： B25J13/085 , B62D57/032
摘要： A legged moving robot has a plurality of movable legs for repeatedly touching and leaving a floor. A force sensor is mounted on each of the movable legs at a position spaced from a foot sole thereof toward a proximal end thereof, and detects at least a force and a moment based on a reactive force applied from the floor to the foot when the foot is landed on the floor. The foot is tilted along a ridge on the floor by actuators when the foot is landed on the ridge such as the edge of a stair. A position of the center of the reactive force applied from the floor to the foot is recognized on the basis of the force and the moment detected by the force sensor, in a plurality of tilted attitudes of the foot when the foot is tilted. A landed direction and/or a landed position of the foot with respect to the ridge is recognized on the basis of the position of the center of the reactive force recognized in the plurality of tilted attitudes of the foot.
摘要翻译： 有腿的移动机器人具有多个用于反复接触和离开地板的活动腿。 力传感器被安装在每个可动腿上，在与其脚底距离其近端隔开的位置处，并且当足部基于从地板施加到脚部的反作用力时，至少检测力和力矩 被降落在地板上。 当脚落在台阶边缘的脚上时，脚通过执行器沿着地板上的脊倾斜。 基于由力传感器检测到的力和当脚倾斜时的脚的多个倾斜态度，基于从地板施加到脚的反作用力的中心的位置被识别。 基于在脚的多个倾斜姿势中识别的反作用力的中心的位置来识别脚的相对于脊的落地方向和/或着陆位置。
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4.发明授权Control system for controlling the knee joint actuators of a legged robot in response to a detected fall condition so as to lower the center of gravity of the robot 失效控制系统，用于响应于检测到的跌倒状况来控制腿式机器人的膝关节致动器，以降低机器人的重心
公开(公告)号：US6064167A
公开(公告)日：2000-05-16
申请号：US123695
申请日：1998-07-28
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032
CPC分类号： B25J19/005 , B62D57/032
摘要： A legged moving robot has a plurality of movable legs extending downwardly from an upper body and having actuators associated respectively with joints thereof. A fall judging unit decides whether the robot is likely to fall down while the robot is operating. An actuator controller controls the actuators associated respectively with the joints of the movable legs to lower the center of gravity of the robot when the fall judging unit determines that the robot is likely to fall down.
摘要翻译： 腿式移动机器人具有从上部主体向下延伸并具有分别与其关节相关联的致动器的多个可动腿。 坠落判断单元决定机器人在机器人操作期间是否可能掉落。 执行器控制器控制分别与可移动支腿的关节相关联的致动器，以在下降判断单元确定机器人可能跌落时降低机器人的重心。
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5.发明授权Apparatus for detecting the landing position of foot sole of legged moving robot 失效用于检测腿式移动机器人脚底的着陆位置的装置
公开(公告)号：US5974366A
公开(公告)日：1999-10-26
申请号：US992849
申请日：1997-12-18
IPC分类号： B25J5/00 , B25J13/08 , B25J19/02 , B62D57/032 , G06F7/70
CPC分类号： B62D57/032
摘要： A legged moving robot has a plurality of movable legs for repeatedly touching and leaving a floor. An apparatus for detecting the landing position of a foot sole of each of the movable legs has a force sensor mounted on each of the movable legs at a position spaced from a foot sole thereof toward a proximal end thereof. The force sensor detects at least a perpendicular force perpendicular to the foot sole and a moment about an axis extending in a lateral direction of the foot sole and passing through a predetermined reference point on the foot sole. A time when the foot sole touches or leaves the floor is detected on the basis of the perpendicular force detected by the force sensor. A landing position for the foot sole to start touching or end leaving the floor is determined on the basis of the perpendicular force and the moment detected by the force sensor, at the detected time or in a predetermined time range near the detected time.
摘要翻译： 有腿的移动机器人具有多个用于反复接触和离开地板的活动腿。 用于检测每个可移动支脚的脚底的着陆位置的装置具有安装在每个可移动支腿上的力传感器，该力传感器在与其脚底间隔开的位置朝向其近端安装。 力传感器至少检测垂直于脚底的垂直力，并且围绕在鞋底的横向方向延伸并穿过脚底上的预定参考点的轴线的力矩。 基于由力传感器检测到的垂直力来检测脚底触摸或离开地板的时间。 基于在检测时间或检测到的时间附近的预定时间范围内由力传感器检测到的垂直力和力矩来确定足底开始触摸或结束离开地面的着陆位置。
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公开(公告)号：US06789338B2
公开(公告)日：2004-09-14
申请号：US10416990
申请日：2003-06-12
申请人： Shigeo Sano , Toru Takenaka , Takayuki Kawai , Yuichi Yoshida
发明人： Shigeo Sano , Toru Takenaka , Takayuki Kawai , Yuichi Yoshida
IPC分类号： B25J500
CPC分类号： B25J13/065 , B25J13/02
摘要： A remote controller for a biped robot is of a simple arrangement capable of remotely controlling movement of the biped robot while taking into account the stability of the attitude of the robot. A manipulation unit 23 outputs, to a robot A, signals representative of manipulated positions of manipulator levers 26, 26 which correspond respectively to both legs 2, 2 of the robot A. A control unit 19 mounted in the robot A generates a motion command (desired gait) for determining motions of the legs for at least two steps of a walking action of the robot A depending on the manipulated positions of manipulator levers 26, 26 which are represented by output signal data from the manipulation unit 23, and controls motions of the legs 2, 2 based on the motion command.
摘要翻译： 用于两足动物机器人的遥控器是一种简单的布置，其能够在考虑到机器人的姿态的稳定性的情况下远程控制两足动物机器人的运动。 操作单元23向机器人A输出表示与机器人A的两个腿部2,2对应的操纵杆26,26的操纵位置的信号。安装在机器人A中的控制单元19产生运动指令（ 所需步态）用于根据来自操纵单元23的输出信号数据表示的操纵杆26,26的操纵位置来确定机器人A的步行动作的至少两个步骤的腿的运动，并且控制机器人 基于运动命令的腿部2,2。
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公开(公告)号：US07524546B2
公开(公告)日：2009-04-28
申请号：US10450868
申请日：2001-12-13
IPC分类号： B32B21/00 , B32B21/72 , B32B23/00 , B32B23/08 , B32B1/08 , B29D22/00 , B29D23/00 , A47G19/22
CPC分类号： F01N3/2853 , C04B30/02 , C04B2111/00793 , C04B2111/28 , F16L59/00 , Y10S55/30 , Y10T428/1314 , Y10T428/2978 , Y10T442/2926 , Y10T442/2975 , Y10T442/674 , Y10T442/696 , Y10T442/697 , Y10T442/699 , C04B14/4625 , C04B41/483 , C04B14/042 , C04B14/42 , C04B40/0028 , C04B41/5089 , C04B41/5015
摘要： A thermal insulating material which can be efficiently produced while the content of organic matters, such as organic fibers and/or an organic binder, is reduced to the same or lower degree as compared with the thermal insulating material used in a conventional pollution control device (e.g., catalytic converter), and which can be applied to a pollution control element (e.g., catalytic element) while avoiding, as much as possible, an unpleasant feeling to the operator. A thermal insulating material comprising a thermal insulating material body formed of a bulk material of inorganic fibers, and a coating provided on at least one surface of said thermal insulating material body.
摘要翻译： 与常规污染控制装置中使用的隔热材料相比，有机物质等有机物质（例如有机纤维和/或有机粘合剂）能够有效地制造的绝热材料降低到相同或更低的程度 例如催化转化器），并且其可以应用于污染控制元件（例如催化元件），同时尽可能避免对操作者的不愉快的感觉。 一种隔热材料，包括由无机纤维的本体材料形成的绝热材料体，以及设置在所述绝热材料体的至少一个表面上的涂层。
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公开(公告)号：US20050212182A1
公开(公告)日：2005-09-29
申请号：US10518959
申请日：2003-06-20
申请人： Chikafumi Yokoyama , Takayuki Kawai
发明人： Chikafumi Yokoyama , Takayuki Kawai
IPC分类号： B29C33/40 , B29C33/42 , B29C39/10 , B29C39/14 , B29C39/26 , B29K101/10 , B81C99/00 , G09F9/30 , H01J9/02 , H01J9/24 , H01J11/12 , H01J11/22 , H01J11/24 , H01J11/26 , H01J11/34 , H01J11/36 , B28B11/08 , B29C35/08 , B29C59/00
CPC分类号： H01J9/242 , B29C33/40 , B29C33/424 , H01J2217/49264
摘要： To provide a flexible mold capable of easily and correctly manufacturing protuberances such as PDP ribs at predetermined positions with high dimensional accuracy. A flexible mold comprises a support made of a material having a tensile strength of at least 5 kg/mm2 and containing a moisture to saturation at a temperature and a relative humidity at the time of use by moisture absorption treatment applied in advance, and a molding layer having a groove pattern having a predetermined shape and a predetermined size on its surface.
摘要翻译： 提供一种能够容易且正确地制造具有高尺寸精度的预定位置处的诸如PDP肋的突起的柔性模具。 柔性模具包括由具有至少5kg / mm 2的拉伸强度的材料制成的支撑体，并且在使用时预先施加的吸湿处理时的温度和相对湿度下含有水分饱和度，并且成型 其表面具有具有预定形状和预定尺寸的凹槽图案。
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公开(公告)号：US4848207A
公开(公告)日：1989-07-18
申请号：US105873
申请日：1987-10-07
申请人： Takayuki Kawai
发明人： Takayuki Kawai
摘要： Legs of a musical instrument are received in corresponding posts on a caster beam via slidable telescopic connection whose degree is changeable depending on the selected level of the musical instrument and uncontrolled fall of the musical instrument during level adjustment is mechanically prevented without any manual assistance for easier level adjustment.
摘要翻译： 乐器的腿通过可滑动的伸缩连接被接收在脚轮上的相应的柱中，其可根据乐器的选定水平而改变程度，并且在液位调节期间机械地防止乐器的不受控制的跌倒，而无需任何手动帮助更容易 水平调整。
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公开(公告)号：US06276366B1
公开(公告)日：2001-08-21
申请号：US09377816
申请日：1999-08-20
IPC分类号： A24C532
CPC分类号： A24C5/34 , G01B11/028 , Y10S131/904 , Y10S131/905 , Y10S131/906 , Y10S131/907 , Y10S131/908
摘要： A cigarette testing apparatus includes a ventilation-characteristic measuring section having a ventilation vessel which is disposed horizontally so as to reduce the vertical dimension of the apparatus. A cigarette is supplied in a horizontal position from a cigarette supplying section to a weight measuring section where the cigarette weight is measured. The cigarette ejected therefrom is transferred to a circumference measuring section, a ventilation-characteristic measuring section and a length/hardness measuring section in this order in a condition that the horizontal position is kept unchanged. In these sections, the circumference, ventilation characteristic, length and hardness of the cigarette are measured in sequence.
摘要翻译： 卷烟测试装置包括通风特性测量部分，其具有水平设置以减小设备的垂直尺寸的通风容器。 香烟从卷烟供给部到水平位置供给到测量香烟重量的重量测量部。 将其排出的香烟在水平位置保持不变的状态下依次传送到圆周测量部，换气特性测量部和长度/硬度测量部。 在这些部分中，顺序地测量香烟的圆周，通气特性，长度和硬度。
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