Patent application number | Description | Published |
20080210477 | Leg Joint Assist Device of Legged Mobile Robot - An assist device | 09-04-2008 |
20080300721 | Legged Mobile Robot and Control Program for the Robot - A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided. | 12-04-2008 |
20110301756 | CONTROL DEVICE FOR LEGGED MOBILE ROBOT - In a legged mobile robot | 12-08-2011 |
20130133968 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle having a tiltable rider mounting section includes a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions, and an operation device which outputs a turn command. In the case where the turn command is output from the operation device in a situation wherein at least the first travel operation unit is traveling in the longitudinal direction or at rest, the moving velocity of the ground contact point of the first travel operation unit and the moving velocity of the ground contact point of the second travel operation unit in the lateral direction of a rider are controlled to have velocities that are different from each other. | 05-30-2013 |
20130299253 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle includes a first control processor that adds up a basic velocity command in a longitudinal direction and a lateral direction based on an operation through a joystick and a desired center of gravity velocity addition amount in the longitudinal direction and the lateral direction based on the movement of the body weight of the rider, thereby determining a desired velocity. A longitudinal travel velocity command limiter sets a desired center of gravity velocity addition amount, which is based on the basic velocity command based on a longitudinal manipulated variable of the joystick and a center of gravity offset influence amount based on the movement of the body weight of the rider, to a smaller value as a basic turn angular velocity command value increases. | 11-14-2013 |
20130299264 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle includes a control device for controlling a plurality of electric motors, and a portable device, such as a portable telephone, for displaying a center-of-gravity display point indicating the position of a center of gravity and outputting a command for moving the vehicle. The control device controls a first actuator device and a second actuator device so as to move the vehicle according to the command output from the portable device and the tilting of an occupant boarding member. Such inverted pendulum type vehicle makes it possible to learn how to steer the inverted pendulum type vehicle. | 11-14-2013 |
20130304290 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle includes a control device which sets a target turning angular velocity ωz_cmd to a nonzero value not only when a predetermined steering operation is performed but also at least in an external force application state in which an external force for turning the vehicle about a yaw axis is applied to the vehicle. The control device controls a first actuator device and a second actuator device such that a second moving operation unit has a different velocity from a first moving operation unit in a left-right direction. Such an inverted pendulum type vehicle makes it possible to turn the vehicle easily even in a state in which no steering operation is performed. | 11-14-2013 |
20130304316 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle prevents a travel operation unit from running at a high velocity when not in contact with the ground. A ground contact point velocity detector integrates a ground contact point horizontal acceleration calculated by a ground contact point horizontal acceleration calculator so as to calculate the acceleration at the ground contact point of a wheel. A determiner calculates a ground contact point velocity. The determiner sets a velocity threshold value on the basis of the velocity difference between the ground contact point velocity and a first desired velocity. If the first desired velocity reaches the velocity threshold value or more, then the determiner decides that the wheel of a first travel operation unit is idling and restricts the setting of the first desired velocity by a first control processor to the velocity threshold value or less. | 11-14-2013 |
20130304320 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle with a tiltable rider mounting section has a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions. In a situation wherein a predetermined representative point of the vehicle or the first travel operation unit is to be moved rightward or leftward, the traveling operations of the first travel operation unit and the second travel operation unit are controlled such that the travel velocity of the first travel operation unit and the travel velocity of the second travel operation unit in the lateral direction are different from each other. | 11-14-2013 |
20130304321 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle having a tiltable rider mounting section includes a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions. In a situation wherein a predetermined representative point of the vehicle or the first travel operation unit is to be moved rightward or leftward, the traveling operations of the first travel operation unit and the second travel operation unit are controlled such that the travel velocity of the first travel operation unit and the travel velocity of the second travel operation unit in the lateral direction are different from each other so as to cause the vehicle to turn about a turn center at the rear of a ground contact point of the first travel operation unit. | 11-14-2013 |
20130304323 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle has a first travel operation unit and a second travel operation unit. A controller of the inverted pendulum type vehicle controls an actuator on the basis of a restricted desired value. The restricted desired value is obtained by restricting a basic desired value of the lateral travel velocity of the second travel operation unit by a limiting processor, the basic desired value being for bringing the actual turn angular velocity of the vehicle close to a desired value. The limit width of the limiting processor is variably set according to the actual travel velocity of the second travel operation unit. | 11-14-2013 |
Patent application number | Description | Published |
20110264264 | CONTROL DEVICE AND GAIT GENERATING DEVICE FOR BIPEDAL MOBILE ROBOT - A control device for a bipedal mobile robot generates a desired motion of a bipedal mobile robot. When causing the robot to perform a one-leg hopping operation, a desired motion of the robot is generated such that the proximal end portion of a free leg of the robot is positioned at a relatively higher level than the proximal end portion of a supporting leg thereof in the state wherein the supporting leg has landed on a floor after leaving from the floor and such that the horizontal distance between the total center-of-gravity point of the robot and the proximal end portion of the supporting leg in the aforesaid state is shorter than the horizontal distance therebetween in a state wherein the robot is standing in an upright posture. | 10-27-2011 |
20140291044 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle enabled to easily execute a turning motion with a configuration of a low cost. An inverted pendulum type vehicle includes a second moving motion unit disposed with an interval from a first moving motion unit and configured to be capable of moving in all directions on a floor surface. A brake device is configured to be capable of generating a brake force imparted to the second moving motion unit. A control unit is provided for determining the presence/absence of a request for turning motion of the vehicle, and, when there is a request for the turning motion, to control the motion of the brake device so as to impart a braking force to the second moving motion unit. | 10-02-2014 |
20140297076 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle capable of improving consistency of the intention of an operator and the motion condition of the vehicle. When a low frequency component of an estimate value Vb_estm1_y of the translational speed in the Y-axis direction of a vehicle system center of gravity of the entirety deviates from a dead zone of a processing unit and movement of the waist of an operator is sudden enough to generate a high frequency component in Vb_estm1_y, a target turning angular velocity ωz_cmd_gc is set to a positive value or a negative value depending on the deviation amount, and a turning suppression factor Kωz is adjusted to 0. Therefore, motion of actuator devices of a vehicle is controlled so that turning of the vehicle is suppressed and the vehicle system center of gravity of the entirety is translated to +Y-axis direction. | 10-02-2014 |
20140297124 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle capable of dissipating the dissociation of vehicle steering intention of a user and a vehicle motion condition. When a base tilts toward a first designated direction, gravity center shift effect amount Vofs_x is corrected by a gravity center shift correction amount Vdep_x calculated according to the tilting amount. The gravity center shift correction amount Vdep_x with respect to a second designated direction is determined so as to increase as the tilting amount toward the first designated direction of the base. Further, the gravity center shift effect amount Vdep_x determined by tilting toward the first designated direction of the base is controlled to a threshold value or less. | 10-02-2014 |
20140297125 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle configured to enable a user to control the vehicle by selecting a single control mode, even while other control modes are not selected. One control mode out of plural control modes of the vehicle is selected based on a detection result of an inclination state of an occupant riding section by an inclination sensor that is a fundamental constituent of the vehicle. Motion of a first actuator device and a second actuator device is controlled according to the one control mode selected. | 10-02-2014 |
20140297126 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle capable of making mounting and dismounting of an occupant smooth. A control device of an inverted pendulum type vehicle includes a control gain adjustment unit. The control gain adjustment unit changes the magnitude of the control gain used for motion control of an actuator device according to the tilting state of an occupant riding section in a situation where the stepping on of an occupant to the occupant riding section is executed or in a situation where the stepping off of the occupant from the occupant riding section is executed. | 10-02-2014 |
20140297127 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle for improving the steering performance and the comfort of the vehicle. A control device of an inverted pendulum type vehicle including a moving motion unit driven by an actuator device controls the actuator device so that the position of the center of gravity of the entirety of an occupant riding on an occupant riding section and the vehicle is shifted from the position of a balance state in the request direction of movement of the center of gravity of the occupant recognized from a predetermined kind of state of the vehicle. | 10-02-2014 |
Patent application number | Description | Published |
20100046471 | COMMUNICATION SYSTEM, COMMUNICATION APPARATUS, WIRELESS BASE STATION, AND WIRELESS TERMINAL STATION - A downlink data frame addressed to a terminal is copied and obtained downlink data frames are transmitted through different APs, respectively. When a plurality of same uplink data frames are received through the different APs, any one uplink data frame selected out of the uplink data frames is transmitted to its destination. An uplink data frame received from the terminal is copied and obtained uplink data frames are transmitted through different STAs, respectively. When a plurality of same downlink data frames are received through different STAs, any one downlink data frame selected out of the downlink data frames is transmitted to the terminal. | 02-25-2010 |
20140369235 | AD HOC NETWORK SYSTEM AND ROUTE SELECTION METHOD - An ad hoc network system includes a plurality of nodes that communicate with a specific node. Each of the nodes includes a calculator and a selector. The calculator calculates a cumulative value of the number of communication nodes connected through the node by adding the numbers of communication nodes from an upstream side, which is a side closer to the specific node than the node, to the node. The selector selects a node serving as a connection destination out of the nodes located on the upstream side on the basis of the cumulative value of the number of communication nodes calculated by the calculator. | 12-18-2014 |
20140369236 | COMMUNICATION SYSTEM AND COMMUNICATION METHOD - A communication system includes: a specific node; and a plurality of nodes that are installed at fixed positions and perform ad hoc wireless communication with the specific node. The nodes each include a link quality evaluating unit, an upstream route constructing unit, a communicating unit, and a downstream route constructing unit. The link quality evaluating unit performs route evaluation using a hello frame based only on a track record of reception of the hello frame in order to perform upstream communication toward the specific node to form a network. The upstream route constructing unit constructs an upstream route based on the route evaluation. The communicating unit performs upstream communication toward the specific node on a regular basis with a predetermined frequency. The downstream route constructing unit constructs a downstream route from the specific node based on a route in the upstream communication toward the specific node. | 12-18-2014 |
20140369359 | COMMUNICATION DEVICE AND COMMUNICATION CONTROL METHOD - A communication device is included in an ad hoc network in a reactive routing scheme. The communication device includes a receiving unit, a selecting unit, and a transfer control unit. The receiving unit receives a route request frame including overall quality information on routes through which the route request frame has passed. The selecting unit selects a route request frame to be transferred to another communication device based on the quality information, from the route request frames received by the receiving unit through a plurality of routes. The transfer control unit transfers the route request frame selected by the selecting unit to the another communication device, and discards the route request frame when a quality value indicated by the quality information of the route request frame is smaller than a predetermined reference value. | 12-18-2014 |
20140372502 | COMMUNICATION DEVICE SEARCHING METHOD, COMMUNICATION DEVICE, AND AD HOC NETWORK SYSTEM - A mobile terminal being a searching source that searches for a communication device transmits a searching request addressed to a communication device being a searching destination using a plurality of channels without waiting for a reply to the searching request. A communication device adjacent to the mobile terminal being the searching source, upon receiving a reply to the searching request transmitted by the transmitting from the searching destination, holds the received reply. The mobile terminal being the searching source transmits an inquiry to the adjacent communication device using a plurality of channels about whether a reply to the transmitted searching request has been received from the searching destination. With this configuration, in an ad hoc network with a reactive scheme, the time taken for searching related to a partner device can be shortened. | 12-18-2014 |
20140372626 | TERMINAL, ROUTE GENERATING METHOD, AND COMPUTER-READABLE RECORDING MEDIUM - A terminal used in a network that constructs a communication route with ad hoc communications is connected to a server via a gateway. The terminal generates downstream route information from the server to a specific terminal based on information relating to occurrence of downstream communication from the server to the specific terminal, the information being included in a header of upstream communication from the specific terminal to the server, and preferentially retains the downstream route information. | 12-18-2014 |
20140376359 | DATA COMMUNICATION APPARATUS, DATA COMMUNICATION SYSTEM, AND DATA COMMUNICATION METHOD - A data communication apparatus forms a mesh network together with at least one gateway includes a frame generating unit and a frame transferring unit. The frame generating unit generates a meter data frame to transmit to a gateway. The meter data frame is a frame including meter data. The frame transferring unit transfers the meter data frame received from another data communication apparatus. The meter data frame is addressed to the gateway. The frame generating unit transmits the meter data frame to which number of alternate routing that indicates number of allowable transmission attempts from a data communication apparatus adjacent to a destination gateway of the meter data frame to the gateway is added. The frame transferring unit changes the number of alternate routing added thereto to a value smaller by 1 than a value that has been set and transits the meter data frame to another data communication apparatus. | 12-25-2014 |
20140376526 | COMMUNICATION DEVICE AND COMMUNICATION METHOD - A communication device is provided in a wireless multi-hop network. The communication device includes a receiving unit, a transmission-offset calculating unit, and a transmitting unit. The receiving unit receives a sequence number, a divided time acquired by dividing a time width allocated for transmitting detected usage data by a division number, and the division number. The transmission-offset calculating unit calculates a remainder by dividing the sequence number received by the receiving unit by the division number and calculates a transmission offset time based on the remainder and the divided time. The transmitting unit transmits the usage data based on the transmission offset time calculated by the transmission-offset calculating unit. | 12-25-2014 |