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Patent Searching and Data


Matches 251 - 300 out of 3,012

Document Document Title
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...  
WO/2003/057427A1
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/2003/057425A1
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/2003/057429A1
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/2003/057421A1
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/2003/057423A1
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/2003/057422A1
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/2003/057424A1
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/2003/057426A1
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/2003/057430A1
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/2003/055649A1
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/2003/055650A1
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/2003/055651A1
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/2003/051582A1
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/2003/043789A1
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/2003/043788A1
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/2003/043787A1
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/2003/039819A1
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...  
WO/2003/028959A1
A bipedal humanoid capable of easily performing a gross movement such as passive movement, rising movement, and turnover movement at the time of overturning, comprising a body part (11) having a lower waist part (11b), an upper chest par...  
WO/2003/022533A1
A floor reaction detector of a legged mobile robot having at least an upper body, a plurality of leg parts connected to the upper body through first articulations, and leg parts connected to the end parts of the leg parts through second ...  
WO/2003/022666A1
The invention relates to the techniques relating to snake vehicles comprising a series of elements which are articulated to one another and which are subjected to lateral undulations. According to the invention, the vehicle is powered jo...  
WO/2003/022532A2
A surface clinging robot device. The device includes a supporting structure or base, on which is mounted (a) a lead pivoting support surface, such as a pivoting wheel, and (b) two or more traction drives, such as drive wheels. A pluralit...  
WO/2003/020476A1
A remote control device (22) of a bipedal mobile robot, wherein, when moving the robot from a present position to a specified position, an operator operates an operating element (26) for the specified moving direction of the operating de...  
WO/2003/015997A1
Whether the motion of leg bodies (2) is in a single leg support state or two−leg support state is sequentially decided and the total floor reaction (F) is estimated on the basis of the equation of motion for the center of gravity (G0) ...  
WO/2003/013944A2
A vehicle having two motor-powered wheels (104) and surface engaging vacuum cups (120) that generate a surface-attachment force sufficient to hold the vehicle against a surface and to maintain a wheel traction sufficient to permit the wh...  
WO2002094589A3
The multipurpose vehicle (1) can be utilized in a variety of ways and comprises a traction head (14) and a trail part (15). Said combination enables the vehicle to be used alternately for three types of locomotion i.e. wheel-road (6), wh...  
WO/2003/011535A1
A legged mobile robot having legs formed of one or more rotating joints (allowed to have two or more degrees of freedom per joint), wherein the minimum passive degree of freedom (backlash of speed reducer) required for eliminating a dyna...  
WO2002074611A3
A mobile robot (10) for cleaning, stripping, reconditioning or refurbishing a coating on a metal work piece has a remote controlled power module (11) for locomotion and a working head (48) for removing the coating. The robot is held on t...  
WO/2002/100607A1
A two−leg walking humanoid robot which is so designed as to ease an impact acting on each part thereof when it falls down and detect fallen conditions, and which is provided with contact detectors (40), wherein each contact detector (4...  
WO/2002/100606A1
An apparatus walking with two legs capable of reliably controlling walking even when a landing position is predetermined such as on stepping stone or when striding over an obstacle or going under an obstacle by compensating the ZMP targe...  
WO/2002/099545A1
A general−purpose method controlling a man−machine interface unit. At least a target action (t) to be performed is derived and&sol or initialized and a learning sample (l) is used so as to introduce a user from an arbitrary current s...  
WO/2002/094589A2
The multipurpose vehicle (1) can be utilized in a variety of ways and comprises a traction head (14) and a trail part (15). Said combination enables the vehicle to be used alternately for three types of locomotion i.e. wheel-road (6), wh...  
WO/2002/094645A1
A mobile device for traversing a ferromagnetic surface. The device includes a frame and at least one surface contacting device attached to the frame. The device also includes a Halbach magnet array attached to the frame, wherein the Halb...  
WO/2002/087832A1
A model ZMP (full model ZMP) is calculated using a dynamic model (inverted full model) (100c2) expressing the relation between the motion of a robot and the floor reaction force. A ZMP reduced value of a full model corrected moment aroun...  

Matches 251 - 300 out of 3,012