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Patent Searching and Data


Matches 201 - 250 out of 1,565

Document Document Title
WO/2004/043653
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/2004/041484
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/2004/033160
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/2004/030872
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/2004/030870
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/2004/028757
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/2004/028324
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/2004/026668
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/2004/020159
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/2004/010081
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/2004/005119
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/2003/106112
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/2003/101664
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/2003/099641
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/2003/095156
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/2003/095155
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/2003/092968
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/2003/090980
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/2003/090978
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/2003/090979
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/2003/090982
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/2003/090981
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/2003/082658
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/2003/078109
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/2003/078110
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/2003/070544
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/2003/068462
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/2003/068453
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/2003/068454
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/2003/068455
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/2003/064117
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/2003/061917
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/2003/057420
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...  
WO/2003/057427
A gait generation device comprises means for setting the a limited variable such as the translation floor reaction force horizontal component (associated with friction force) acting on a robot (1) or ZMP, and the allowable range of the l...  
WO/2003/057425
The target path of the translation floor reaction vertical component of a leg type movable robot (1) or of the overall barycenter acceleration vertical component of the robot (1) or upper body acceleration vertical component is determine...  
WO/2003/057429
A gait generation device for generating an aimed gait repeating alternately an in-the-air period where all the legs (2, 2) of a legged mobile robot (1) are made to stay in the air and a landing period where at least one of the legs (2, 2...  
WO/2003/057421
A displacement sensor (70) for producing an output showing the displacement of the ground-contact end of a foot unit (22) with respect to a second joint (18, 20) is provided inside or in the vicinity of an elastic element (382), and a fl...  
WO/2003/057423
The translation floor reaction horizontal component or translation floor reaction floor surface parallel component of a leg type movable robot (1), or the overall barycenter acceleration horizontal component or overall barycenter acceler...  
WO/2003/057422
It comprises a means for determining the target path of the translation floor reaction vertical component of a leg type movable robot (1) or the target path of the overall barycenter acceleration vertical component or the target path of ...  
WO/2003/057424
The allowable range of a friction force component, such as the translation floor reaction horizontal component of a leg type movable robot (1), is set, and the temporary motion of the this-time gait of the robot (1) is determined in such...  
WO/2003/057426
A target gait is produced in such a manner that the resultant of the gravity and inertial force acting on a robot (1) satisfies dynamic equilibrium conditions, by expressing the relationship between at least the horizontal translation mo...  
WO/2003/057430
When a gait is produced that alternately repeats an aerial period in which all leg bodies (2) of a leg type movable robot (1) floats in the air and a landing period in which either of the leg bodies (2) touches the ground, a target (ZMP)...  
WO/2003/055649
A device (18) for absorbing floor-landing shock provided in a foot mechanism (6) of a leg of a robot. The device comprises an inflatable/ deflatable bag-like member (19) (variable volume body) on the ground contact surface side of the fo...  
WO/2003/055650
A device (18) for absorbing floor-landing shock provided in a foot mechanism (6) of a leg of a robot. The device comprises an inflatable/ deflatable bag-like member (19) (variable volume body) on the ground contact surface side of the fo...  
WO/2003/055651
A device (18) for absorbing floor-landing shock provided in a foot mechanism (6) of a leg of a robot. The device comprises an inflatable/ deflatable bag-like member (19) (variable volume body) on the ground contact surface side of the fo...  
WO/2003/051582
The invention provides a bipedal walking type moving device so designed that even in a road surface state giving an unstable footing, such as a wet floor surface, ice, a muddy place, or a thick carpet, or even when only a portion is land...  
WO/2003/043789
A bipedal moving device having an increased walking stability and capable of walking with low energy consumption, and a device and a method for controlling the walking of the bipedal moving device, the walking control device (30) for the...  
WO/2003/043788
A two−legged walking type human−shaped robot, which enables smooth actions with wirings, simplified in an action controller. This robot comprises a barrel section (11), leg sections (12L, 12R) comprising knee sections (21L, 21R) and ...  
WO/2003/043787
A two−legged walking type human−shaped robot (10) comprises a barrel section (11), leg sections (12L, 12R), arm sections (13L, 13R), and a head section (14) and has drive means (11d, 11e&semi 18L, 18R−24L, 24R&semi 28L, 28R−33L, ...  
WO/2003/039819
An assist device (14) has a spring means (15) that produces an auxiliary driving force, by elastic energy, acting on the joint (8) of a leg (3). The spring means (15) is a gas spring having a cylinder (17) and a piston (18), and the bend...  

Matches 201 - 250 out of 1,565