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Matches 251 - 300 out of 1,579

Document Document Title
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...  
WO/2003/028959
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/2003/022533
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/2003/022666
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/2003/022532
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/2003/020476
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/2003/015997
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/2003/013944
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...  
WO/2003/011535
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...  
WO/2002/100607
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/2002/100606
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/2002/099545
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/2002/094589
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/2002/094645
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/2002/087832
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...  
WO/2002/081157
A learning motion control is made by using a hierarchical recurrent neural network. A variety of motion patterns can be created by segmenting a motion pattern taught by a human into parts, automatically in time series, combining the part...  
WO/2002/081290
A vehicle comprising a body (12), one or more powered engine and at least one propeller member (32) controllably coupled to the one or more engine in a manner to drive the at least one propeller member to rotate in a direction and thereb...  
WO/2002/074611
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/2002/069256
An artificial multiped is constructed (either in simulation or embodied) in such a way that its natural body dynamics allow the lower part of each leg to swing naturally under the influence of gravity. The upper part of each leg is activ...  
WO/2002/060746
A traction unit (22) capable of traversing and turning on surfaces that include compound curves like the surface of a sphere or are inverted like a ceiling. The traction unit includes a plurality of trucks (50a-50d) operable to propel th...  
WO/2002/045913
A method for controlling the operation of a legged robot capable of accurately operating the robot while canceling the effect of rolling-, pitching-, and yawing-axis moments applied to a body during a leg operation such as walking, compr...  
WO/2002/040222
A predetermined behavior sequence is developed by using a basic motion unit comprising time series motions of each joint and a combined motion unit comprising combined basic motions. Motion modes including a walk of a robot are classifie...  
WO/2002/040223
A legged mobile robot the body of which can be controlled in attitude stabilization by using ZMP stability determining norms with a relatively slow sampling period. The legged mobile robot has a ZMP stable region comprising a supporting ...  
WO/2002/040229
A biped robot capable of facilitating a kinetic analysis and realizing the more satisfactory control of all kinetic systems by the initialization of a complex coordinate system, wherein a base body (6) is connected to a leg part (5) thro...  
WO/2002/039864
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 ...  
WO/2002/040224
A legged mobile robot, particularly, a biped robot, wherein a dynamic model showing the relation between the motion of an upper body and a leg part and a floor reaction is provided, the parameters of gait patterns including the parameter...  
WO/2002/028600
The invention relates to an actuator for the legs of a walking robot, mostly two-legged robots, comprising a mobile element and a motor located in said mobile element, wherein a base element of the leg is connected to the mobile element ...  
WO/2002/028602
A bipedal robot, wherein a storage device (6) as a power supply for operating the robot is mounted on the upper body (1) of the robot at a position where the gravity center point (B) of the storage device (6) is positioned on the upper r...  
WO/2002/024417
The Transformable vehicle (100) comprises a central chassis assembly (114) having first and second distal ends with an axis passing therebetween, a first wheel assembly (110a) mounted to the first distal end, and a second wheel assembly ...  
WO/2002/022319
A zero-moment-point control for a walking robot, using an RHC that permits a real-time optimal control calculation. A method of controlling a robot characterized by using, in combination, a path control that uses a zero-moment-point auto...  
WO/2002/011956
The present invention provides a multiple-legged walking apparatus, which performs four-legged walking motion using closed multi-articulated link members. The multiple-legged walking apparatus of the present invention includes closed mul...  
WO/2002/006063
A propulsion system for a vehicle comprised of two wheels (2), both of which are in the shape of hemispheres. Each of the hemispheres is mounted through a bearing (9) on a fork (4) with two pivots (8) attached to the inner race of the be...  
WO/2002/000489
The present invention relates to a device at vehicle wheels for vehicles which are adapted to be driven in optional directions on an underlayer or ground. The wheels (3-6) of the vehicle (F) are provided in pairs of wheels (FP, BP) such ...  
WO/2002/000488
The present invention relates to a device at vehicle wheels for vehicles which are adapted to be driven in optional directions on an underlayer or ground. The wheels (3-6) of the vehicle (F) are provided in pairs of wheels (FP, BP) such ...  
WO/2001/094185
A walker comprising wheels movably supporting the main body, a crank rotation-drivably attached to a position which is coaxial with the wheels and which does not interfere with the rotation of the wheels, and an arm attached to a portion...  
WO/2001/087549
A floor shape deducing device for a leg mobile robot, especially a two-legged walking robot. The leg-to-leg floor slant difference is deduced on the basis of at least the control difference of the total floor reaction force, the both-leg...  
WO/2001/087548
A floor shape deducing device for a legged mobile robot, especially a two-legged walking robot. The floor shape, more specifically, the leg-to-leg floor slant difference is deduced on the basis of at least the control difference of the t...  
WO/2001/085400
An apparatus (Figure 5) that is capable of achieving self-stabilization while walking comprises two front legs (74) and two rear legs (76) with each leg having three joints including a hip joint (78), an upper leg joint (80), and a lower...  
WO/2001/085400
An apparatus (Figure 5) that is capable of achieving self-stabilization while walking comprises two front legs (74) and two rear legs (76) with each leg having three joints including a hip joint (78), an upper leg joint (80), and a lower...  
WO/2001/081791
The invention concerns an actuator which consists of a combination of a pin-and-nut system (3, 4) and rod-and-crank system (16, 19) completed by fittings for correcting defects in the mounting or parts and prevent the occurrence of inter...  

Matches 251 - 300 out of 1,579