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Patent Searching and Data


Matches 201 - 250 out of 2,976

Document Document Title
WO/2005/032920A2
The invention concerns a surface traversing apparatus that includes a frame, a seal having a seal perimeter that is mounted to the frame, and a drive configured to move the apparatus relative to the surface. The seal perimeter is adapted...  
WO/2005/005107A1
Positions and attitudes of rigid body-equivalent portions (10, 12, 14) of each leg body (2) on a leg plane passing through joints (9, 11, 13) of each leg body (2) of a two-legged walking mobile body (1) are grasped by detecting rotation ...  
WO/2005/005108A1
A displacement amount of a joint corresponding to each joint element (such as J9) of a rigid body link model (S1) representing a two-legged walking mobile body (1) is sequentially grasped. Also at the same time, values, in a body coordin...  
WO/2005/002996A2
The invention is based on using of a archimede screw as an adjustable transportation member (1, 10) and comprising a barrel (2, 11) and a plurality of adjustable blades (6,16), wherein the blades can be transformed from the configuration...  
WO/2005/000535A1
The allowable range of a controlled object variable such as the floor reaction force momentum vertical component, the floor reaction force momentum floor surface normal direction component, the robot angular momentum change rate vertical...  
WO/2005/000534A1
Target motion and an instantaneous value of a target floor reaction force are determined based on a deviation between a target state amount relating to a posture of a robot (1) at least about a vertical axis or about an axis normal to a ...  
WO/2005/000536A1
Occurrence of a slip of a robot moving according to a target gait is judged. The allowable ranges of controlled object variables such as the floor reaction force horizontal component and the floor reaction force momentum vertical compone...  
WO/2005/000533A1
A vertical component etc. of floor reaction moment caused to act on a robot (1) is set as a to-be-limited amount, and an allowable range of the to-be-limited amount is established. Temporary motion of the robot, which motion satisfies a ...  
WO/2004/108045A1
Powered wheeled vehicle (1), capable of travelling both on level ground and over uneven surfaces, comprising at least one driving tread (BR 11) as well as two pairs of front wheels (R61) and rear wheels (R21), of which at least one is a ...  
WO/2004/098985A1
The invention relates to an off-road vehicle comprising ambulatory limbs, a vehicle frame (2), a drive assembly (9) and an axle structure comprising two wheels or chain driving mechanisms. According to the invention, the vehicle frame (2...  
WO/2004/091865A1
During the movement, such as walking on a flat ground, of a biped walking mobile body, the position of the gravity center (G0) of the mobile body, the position of an ankle joint (12) of each leg body (2), and the position of a metatarsop...  
WO/2004/091866A1
During the movement such as walking on a flat ground of a biped walking mobile body, the position of the gravity center (G0) of the mobile body, the position of an ankle joint (12) of each leg body (2), and the position of a metatarsopha...  
WO/2004/087381A1
A leg type movable robot (10) comprises motors (42) for rotating ankle joints (26R, 26L) around the left and right shafts (26RY, 26LY) of the robot, and speed reduction units (58) for reducing the output speed of the motors, wherein the ...  
WO/2004/085121A1
A robot system applied, for example, to a legged mobile robot. The amount of movement of a robot from a position where it has landed to a position where it lands next is calculated based on kinematics, and by switching of landed position...  
WO/2004/080664A1
A “four directions moving” structure can walk facing front, back, left and right without changing its direction. Its wheels are designed as two groups of wheels which are vertical with each other (it has four rows wheels in quadrate ...  
WO/2004/066124A2
In one aspect, a supported walking system is disclosed, comprising a robotic walking figure (100) and a wheeled support (110) that at least partially supports the robotic walking figure. The supported walking system may be driven and con...  
WO/2004/062991A1
This running apparatus(1) has 4 wheels(3) operating seesaw type are axle installed on the first and second lever(4.5.6). This running apparatus can travel with its 8wheels or sometimes 4wheels touching grounds at any circumstances. This ...  
WO/2004/043653A1
A transfer mechanism (22) is installed in a transfer vessel (10). This transfer mechanism includes a movable body (38) installed for horizontal movement, a rotary base block (48) attached for horizontal rotation and lifting/lowering moti...  
WO/2004/041484A1
A boundary condition-carrying motion equation relating to the future center-of-gravity horizontal path of a robot is solved so that moment around a horizontal axis around a point in a supporting polygon at ground contact is zero or a hor...  
WO/2004/033160A1
A ZMP balance equation describing a balance relationship of each moment applied to a robot body is generated according to desired operation data on the orbit of each section of the robot. A moment error appearing on the ZMP balance equat...  
WO/2004/030872A1
This invention is related to the balance system, for a legged robot, which prevents loss of balance during movement or performance of any job, as well as carrying weight for the robots with two or more legs. The balance system for two-le...  
WO/2004/030870A1
A walking control system is so configured as to input the motion-status quantity of a robot measured by a sensor or the like and real-world quantities such a an external force, an external force moment and an environmental pattern. When ...  
WO/2004/028757A1
A walking gait producing device capable of simply and in real time producing the walking motion of a robot having a liable-to-topple structure such as a humanoid two-leg walking robot. The drive quantity of the center of gravity at a cer...  
WO/2004/028324A1
An inexpensive window wiping system which can clean a window glass even in the corners and can travel on the surface of the window glass smoothly and straightly in a desired direction without leaving an unwiped part. The window wiping sy...  
WO/2004/026668A1
A moving carrier that sticks to a surface by use of sticking means such as negative pressure is capable of easily performing pulling over, or transverse movement, in a direction intersecting a moving direction of the carrier. The moving ...  
WO/2004/020159A1
A leg section of a legged mobile robot has at least a first joint (16) and second joints (18, 20) arranged more downward in the direction of gravity than the first joint. Actuators (54, 56) for driving the second joints are arranged at t...  
WO/2004/010081A1
A method and a device for accurately detecting information on the attitude of a movable body, the device comprising a highly accurate attitude detection mechanism (1) having, in pairs, one rate gyro (2a) for detecting the attitude and th...  
WO/2004/005119A1
An ambulatory mechanical leg system drives a mechanical leg (100, 21) with a crank (91) to pivot about a pivot axis (102) to produce uniform rectilinear motion at the distal end (41) of the leg (100, 21) during a stride stroke (51) porti...  
WO/2003/106112A1
A walking control device (30) which drive-controls the drive means of each joint (15L, 15R-20L, 20R) of each leg (13L, 13R) based on gait data, and which comprises force sensors (23L, 23R) each for detecting a force applied to the sole o...  
WO/2003/101664A1
Apparatus for positioning and holding a tool relative to a workpiece comprising a carriage for conveying the tool over the surface of the workpiece and means for holding the carriage onto the surface of the workpiece. The invention provi...  
WO/2003/099641A1
The invention relates to an actuator which is characterised 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 ...  
WO/2003/095156A1
An additional support structure for a robot, comprising abutting members (7) allowed to abut on a surface such as a floor surface for supporting the robot (1) fitted to the portions of the arms (2) of the robot (1) near articulations (2c...  
WO/2003/095155A1
A method and a device for controlling the walking of a legged robot for stably controlling the attitude thereof, the method comprising the steps of controlling the attitude of the robot with different control characteristics in each coor...  
WO/2003/092968A1
An attitude control device of a mobile robot, wherein the attitude of the robot is controllably stabilized by driving arm part links so that, when an unexpected external force acts on the robot, a second external force acts on the arm pa...  
WO/2003/090980A1
On the basis of a deviation between the detected or estimated value of the actual attitude of a predetermined region of the upper body (3) or the like of a robot (1), and the posture of a target gait, the amount of attitude rotation devi...  
WO/2003/090978A1
A control device of a legged mobile robot, wherein a state amount deviation (for example, the deviation of the vertical position of an upper body (3)), which is a deviation between an actual state amount and the state amount of a target ...  
WO/2003/090979A1
A system for estimating acceleration of the motion of an acceleration sensor itself being generated through motion of a robot (1) mounting a gyro sensor (angular speed sensor) and the acceleration sensor on the upper body (3), or the lik...  
WO/2003/090982A1
A control device and a footstep determination device for a legged mobile robot, wherein the landing position and landing direction of a foot (22) landing in the landing operation of the robot (1) such as a bipedal mobile robot are estima...  
WO/2003/090981A1
A system for estimating the attitude angular speed at a specified part, e.g. the upper body (3) or the like, of a robot (1) mounting a gyro sensor (angular speed sensor) on the upper body (3) under motion stop state of the robot when no ...  
WO/2003/082658A1
A device capable of adhering to an object surface that is under a liquid level and moving along the surface. The device comprises two gas regions that bring the object surface into contact with only the gas, and the gas regions can be pr...  
WO/2003/078109A1
When a leg-type mobile robot, on receiving excessive external force or external moment, become unable to perform a leg behavior, it gives up a normal walking operation to start an overturning operation; a change amount of the area S of a...  
WO/2003/078110A1
A hip where the mass operation amount becomes maximum as a control point on the robot body is set to be a local coordinate origin and an acceleration sensor is arranged there so that an attitude and an acceleration at that position are d...  
WO/2003/070544A1
A vacuum device (10) for attaching an object to a surface (12), comprising a body (14) fixable to the object and a piston (16) connected to the body along a first sealing contour, thereby defining with the body a first chamber (20). The ...  
WO/2003/068462A1
A walking controller (30) of a two-legged walking locomotion apparatus for driving/controlling joint-driving motors (15L, 15R to 20L, 20R) of the legs of a two-legged walking locomotion apparatus on the basis of gait data. The walking co...  
WO/2003/068453A1
A two-leg walking moving device comprising join-use drive motors for respectively swinging leg-swinging joints (15L, 15R) of the waist, rolling-direction joints (16L, 16R) of the waist, pitch-direction joints (17L, 17R) of the waist, pit...  
WO/2003/068454A1
A two-leg walking humanoid robot comprising drive motors (11d, 11e, 18L, 18R-24L, 24R, 28L, 28R-33L, 33R, 35, 36) for swinging respective joints, and an operation control device (40) for drive-controlling respective drive motors, wherein...  
WO/2003/068455A1
In a foot of a leg type movable robot, deformation or the like of the foot is absorbed by a first recess, so that the position and shape of a touchdown point hardly change. Therefore, a change in drag on the moment around a yaw axis beco...  
WO/2003/064117A1
A method of estimating the floor reaction of a bipedal movable body, comprising the steps of sequentially judging whether the motion state of leg bodies (2, 2) is in a single leg support state or a double leg support state, estimating a ...  
WO/2003/061917A1
While a corrected manipulated variable of a target floor reaction force (target floor reaction force moment) on the basis of the difference between an actual state quantity such as the upper-body posture angle of a robot (1) and a target...  
WO/2003/057420A1
A leg-type moving robot (1), wherein an elastic element (382) is arranged between a second joint (18, 20) linking the tip end of a leg unit (2) with a foot unit (22) and a ground-contact end of the foot unit, and a displacement sensor (7...  

Matches 201 - 250 out of 2,976