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JP3726130B2 |
To provide a clutch materializing a free articulation and transmitting a high torque with the clutch engaged. This backlash clutch is provided with a first turning member 3 and a second turning member 4 rotatably disposed on a same axis ...
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JP3726058B2 |
To compactly house displacement sensors in feet parts of a leg type mobile robot with a constraint in space, and to calculate (estimate) not only displacement from their outputs but also floor reaction force. The humanoid robot is provid...
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JP3726032B2 |
To provide an operation generating device of a legged mobile robot allowing generated operations such as gait pattern to accurately meet the requirements of dynamic equilibrium condition. A model ZMP (full model ZMP) is calculated by usi...
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JP3726081B2 |
A gait generation system (gait generator 100) for generating a gait of a legged mobile robot 1 having at least a body 24 and a plurality of, more precisely, two legs (leg links) 2 each connected to the body, comprising: leg reaction forc...
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JP3722493B2 |
There is provided, in a preferred embodiment, a transportation vehicle for transporting an individual over ground having a surface that may be irregular. This embodiment has a support for supporting the subject. A. ground-contacting modu...
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JP3713363B2 |
To confirm the upper and lower and right and left parts in the pipe displayed on a monitor and to make it possible to judge whether the running pipe is the iron pipe or not from the monitor image at the same time by containing movable wa...
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JP2005306250A |
To provide a test traveling method and device for an inspection pig capable of running at the same speed as that at the time of running during pipeline inspection in actual work.This test traveling method and device for the inspection pi...
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JP3703663B2 |
To make conveying equipment for materials and bars travel by comparatively large thrust, to improve gradeability, and to enable smooth passing through a sharp turning section. In a tunnel, a locomotive 3 of a conveying vehicle 2 is drive...
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JP2005526629A |
The invention relates to an actuator which is characterized in that the kinematic connection between the motor and the working element of the robot comprises a mobile link which is pivot fixed to the base of the actuator, a runner which ...
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JP3691434B2 |
To provide a landing shock absorber capable of smoothly reduce the landing shock caused when a leg body of a leg type mobile robot lands in a simple constitution. The landing shock absorber 18 arranged in the sole mechanism 6 of the robo...
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JP3681728B2 |
A mobile robot is described for random movement across a surface where a drive unit is arranged inside a top-hat. Cleaning equipment such as electrostatic dusters or equipment for vacuuming can be fixed to the top-hat so that the mobile ...
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JP3682525B2 |
To provide a human form robot of two-leg walking type capable of relieving shocks applied to different parts when the robot has tumbled, etc., and of sensing the tumbling condition. The human form robot 10 of two-leg walking type is equi...
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JP2005206020A |
To provide a collecting method and a collecting tool of laminated glass for a window, for reducing flying of glass dust in collecting work of the laminated glass, and for collecting a desired part of the laminated glass by efficiently ge...
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JP3679105B2 |
A gait generation device includes means for setting a translation floor reaction force's horizontal component (component concerning a friction force) applied to a robot 1, a limitation-target quantity, such as a ZMP, and an allowable ran...
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JP3677623B2 |
To provide zero moment point control using RHC(receding horizon control) capable of real-time optimizing calculation for a leg type robot, and control the robot through combined use of trajectory and non-linear controls using a zero mome...
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JP3674789B2 |
There are provided means for determining a desired trajectory of a translation floor reaction force's vertical component of a legged mobile robot 1, a vertical component of the total center-of-gravity acceleration or a body acceleration ...
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JP3672867B2 |
To provide a landing shock absorber capable of securing the stability of the posture of a leg type mobile robot with ease while reducing the shock load when the leg body of the robot lands to the walking posture of the robot properly and...
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JP3672406B2 |
To provide a walking attitude producing device for a leg type mobile robot, in particular a two-foot walking robot, with which it is practicable to produce any desired walking attitude to enable continuous walking for a long period. Two ...
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JP3674788B2 |
There are provided means for determining a desired trajectory of a translation floor reaction force's vertical component of a legged mobile robot 1, a vertical component of the total center-of-gravity acceleration or a body acceleration ...
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JP3672102B2 |
There are provided means for determining a desired trajectory of a translation floor reaction force's vertical component of a legged mobile robot 1, a vertical component of the total center-of-gravity acceleration or a body acceleration ...
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JP3672103B2 |
There are provided means for determining a desired trajectory of a translation floor reaction force's vertical component of a legged mobile robot 1, a vertical component of the total center-of-gravity acceleration or a body acceleration ...
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JP3672100B2 |
There are provided means for determining a desired trajectory of a translation floor reaction force's vertical component of a legged mobile robot 1, a vertical component of the total center-of-gravity acceleration or a body acceleration ...
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JP3672101B2 |
There are provided means for determining a desired trajectory of a translation floor reaction force's vertical component of a legged mobile robot 1, a vertical component of the total center-of-gravity acceleration or a body acceleration ...
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JP3667914B2 |
To provide a remote control system for a leg type mobile robot, with which the foot bottom part of the robot and the foot bottom part of an operator receive the same working force and the robot can work in different environments of vario...
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JP3665013B2 |
To provide a leg joint assist device which can effectively reduce the load on a joint actuator of the leg-type mobile robot, ensure the excellent utilization efficiency of the energy, and miniaturize the configuration. This assist device...
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JP3666676B2 |
PURPOSE: To facilitate rotation of each magnet wheel following three-dimensional transfer of a running surface by a method wherein the magnet wheel is rotated around an X-axis and a Y-axis based on a truck and movable in the direction of...
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JP3661894B2 |
To move or turn the whole device to a desired position by providing plural wheel parts in the internal space of a spherical shell body having a designated wall thickness, and bearing at least one set of wheel parts among the above in suc...
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JP3663034B2 |
To smooth the vertical movement of an upper body and movement of joints by providing an upper body vertical target position deciding means which decides the vertical target position of the upper body based on the upper body locus and a l...
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JP3662996B2 |
To enable a robot to get down the stairs in a stable foot step, when the idle foot is landed on the stairs at the time of descent, by controlling the walk so that the landing is carried out from the heel of a foot. After the sole of a fo...
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JP3663940B2 |
To reduce the laminating time without reducing the resolution in the laminating direction by forming plural thin films with different film thicknesses, peeling this plural thin films from a substrate, successively laminating them in acco...
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JP3655056B2 |
To provide a control device for a leg type moving robot in a condition likely tumbling, so as to reduce as small as possible damage received by the robot by its tumbling and damage of a mate side object against which the robot collides w...
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JP3652643B2 |
To provide a landing shock absorber capable of securing the stability of the posture of a leg type mobile robot with ease while reducing the shock load when the leg body of the robot lands floor and also constituting the robot itself lig...
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JP3649865B2 |
To prevent damage in a leg part by providing a slide body, movable in the fore and aft direction, on a flat part of a foot, and providing an energizing means, which energizes the slide body to the predetermined position, in the condition...
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JP3646169B2 |
To provide a walking control device for stably controlling the attitude of a legged robot. This walking control device of the legged robot comprises a step position sensor for detecting the step position of a ground-contact leg, a ground...
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JP3640255B2 |
There are provided means for determining a desired trajectory of a translation floor reaction force's vertical component of a legged mobile robot 1, a vertical component of the total center-of-gravity acceleration or a body acceleration ...
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JP3637804B2 |
To make the size thin and appropriately open a contact by bending part of a moving electrode, contacting part of the moving electrode with a fixed electrode to elastically deform, and closing the moving contact to the fixed contact. A mo...
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JP3634238B2 |
To accurately estimate the shape of a floor on which a leg type mobile robot, particularly a biped walking robot, is trodden, and generate floor reaction as desired by absorbing influence when the floor shape is different from what is as...
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JP2005074620A |
To lower the development and manufacturing costs of a walking robot, and to provide the walking robot and its control method any non-specialists can easily participate in the development therefor.The walking robot has a plurality of legs...
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JP3628826B2 |
To enable an operator to surely and accurately recognize the unstable posture of a robot by obliquely moving a seat backrest or a seat part according to the deviation of a robot detected posture by a posture detecting means from an targe...
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JP3628757B2 |
PURPOSE: To apply a magnetic attraction driving force for a locus by connecting adjacent yokes and a group of magnets by a connecting means so as to be endless and bent at least in an inner direction. CONSTITUTION: Two hollow collars 40 ...
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JP2005059758A |
To provide a propulsion device propulsive even on an off-road and based on a principle of a screw, and a propulsion unit used for it.The propulsion unit is equipped with a non-rotational part 1, a rotational part 2, a motor part 3, a bla...
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JP3626303B2 |
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 movab...
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JP3627057B2 |
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JP2005047451A |
To provide a self-suction type traveling device suction a vacuum blower on a traveling device body, generating vacuum force by itself and capable of self-suction on not only a flat surface but also corroded projected/recessed wall surfac...
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JP2005046950A |
To provide a four-leg mobile robot capable of easily and stably getting over step difference and going up and down the stairs besides traveling, with simple constitution.Hip joints 1a, 1b, 1c, 1d arranged almost in a straight line are pr...
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JP3621808B2 |
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 det...
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JP2005028567A |
To enable a biped walking device to stably walk while maintaining balance with a walking control method including the constitution of the ground reaction force plane by utilizing more effective sensor and the ground reaction force measur...
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JP3615702B2 |
A legged mobile robot is adaptively controlled in its attitude against variable external forces to continue the operation without inversion. When the legged mobile robot kicks an object having a certain mass, such as a ball, the robot is...
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JP2005022610A |
To efficiently pass through a bend part.A long pushing member 1 with flexibility is connectably installed on a rear end in an in-tube moving direction, and this movable body in a tube is installed movably in a pipe B by a pressing force ...
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JP2004359195A |
To provide a brush type sucker for a suction running device for a wall surface fitting well on the wall surface with projecting and recessed parts, having less vacuum leakage amount during running, compatible with a small vacuum generati...
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