Patent application number | Description | Published |
20080210477 | Leg Joint Assist Device of Legged Mobile Robot - An assist device | 09-04-2008 |
20080245584 | Leg Type Mobile Robot - To provide a leg type mobile robot, in which a downsizing and wait-saving of floor reaction force detector to be installed on the foot is enabled. | 10-09-2008 |
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 |
20090012669 | Vehicle Control Device - A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a side slip angle and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel. | 01-08-2009 |
20090024293 | Vehicle Control Device - An actual vehicle actuator operation control input and a model operation control input are determined by an FB distribution law such that the difference between a reference state amount determined in a vehicle model and an actual state amount of an actual vehicle approximates zero, and then an actuator device of the actual vehicle and the vehicle model are operated on the basis of the control inputs. The value of a parameter of the vehicle model is set according to an actual vehicle motional state such that the attenuation property of a reference state amount when a drive manipulated variable is changed is higher than the attenuation property of an actual state amount. Accordingly, the actual vehicle actuator device is properly controlled independently of an actual vehicle motional state such that a state amount related to an actual vehicle motion approximates a vehicle state amount on a dynamic characteristic model. | 01-22-2009 |
20090088918 | VEHICLE CONTROL DEVICE - A control means for controlling actuators of a vehicle creates a time series of a future behavior of the vehicle using a vehicle model. A state amount of the vehicle model is initialized on the basis of a state amount of the vehicle, and the future behavior is created starting from the initial state amount. The future behavior is created such that operation commands of the actuators in the vehicle model at the current time coincide with or approximate basic values based on operation of a manipulating device, such as a steering wheel of the vehicle. It is evaluated whether vehicle motion, road surface reaction force, and wheel sliding, in the created future behavior satisfy predetermined restrictive conditions. Based on the evaluation result, the operation commands of the actuators are successively decided. This permits ideal travel of the vehicle to be achieved by properly predicting future behaviors of the vehicle. | 04-02-2009 |
20090099689 | LEGGED MOBILE ROBOT AND CONTROL PROGRAM FOR THE ROBOT - A legged mobile robot and a control program for the robot cancel a spin force, which is generated by motions of a lower body ( | 04-16-2009 |
20090118905 | VEHICLE CONTROL DEVICE - A control input for operating an actual vehicle actuator and a control input for operating a vehicle model are determined by an FB distribution law based on a difference between a reference state amount determined by a vehicle model and an actual state amount of an actual vehicle such that the state amount error is approximated to zero, and then an actuator device of the actual vehicle and the model vehicle are operated based on the control inputs. The FB distribution law determines a control input for operating the model such that a state amount error is approximated to zero while restraining a predetermined restriction object amount from deviating from a permissible range. A vehicle control device capable of enhancing robustness against disturbance factors or their changes while performing operation control of actuators that is as suited to behaviors of an actual vehicle as possible is provided. | 05-07-2009 |
20090132137 | CONTROLLER OF VEHICLE - A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a road surface reaction force and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel. | 05-21-2009 |
20090171503 | GAIT GENERATING DEVICE OF MOBILE ROBOT - The placement of the elements (mass points or rigid bodies having inertia) of a model expressing a robot | 07-02-2009 |
20090171526 | Vehicle Control Device - A basic required manipulated variable Mfbdmd_a is determined on the basis of a state amount error, which is the difference between a state amount of a motion of an actual vehicle | 07-02-2009 |
20090187302 | VEHICLE CONTROL DEVICE - A control input for operating an actual vehicle actuator and a control input for operating a vehicle model are determined by an FB distribution law | 07-23-2009 |
20090288900 | Inverted pendulum mobile vehicle - Provided is an inverted pendulum mobile vehicle such as a single-passenger coaxial two-wheel vehicle which is capable of turning with a small turning radius without causing discomfort to a rider or a vehicle occupant or causing a cargo or the like on the vehicle from shifting or falling off from the vehicle. The vehicle comprises a wheel supporting frame ( | 11-26-2009 |
20090319114 | VEHICLE CONTROL DEVICE - An FB distribution rule | 12-24-2009 |
20100139996 | FRICTION DRIVE VEHICLE - In a frictional drive vehicle, a load acting on the vehicle such as the weight of a rider is converted into a force that urges two frictionally engaging parts ( | 06-10-2010 |
20110067935 | FRICTIONAL DRIVE DEVICE AND INVERTED PENDULUM TYPE VEHICLE USING THE SAME - In a frictional drive device comprising a pair of drive disks ( | 03-24-2011 |
20110070997 | FRICTIONAL DRIVE DEVICE AND INVERTED PENDULUM TYPE VEHICLE USING THE SAME - In a frictional drive device comprising a pair of drive disks ( | 03-24-2011 |
20110115279 | FRICTIONAL DRIVE DEVICE AND INVERTED PENDULUM TYPE VEHICLE USING THE SAME - In a frictional drive device comprising a pair of drive disks ( | 05-19-2011 |
20110144845 | MOBILE DEVICE - In the case where a temperature allowance of one translational mechanism of a plurality of the translational mechanisms (the electric motors | 06-16-2011 |
20110209932 | OMNI-DIRECTIONAL VEHICLE - [Task] Provided is a vehicle that can make tight turns without significantly changing an attitude of a rider, and is highly convenient in narrow places. | 09-01-2011 |
20110233989 | WHEEL, AND FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME - In a wheel for use in an omni-directional vehicle, gravel and other foreign matters are prevented from being trapped between free rollers forming the wheel, and traveling vibrations and noises are minimized at the same time. The wheel includes an annular member and a plurality of free rollers each rotatably supported by the annular member around a corresponding tangential line of the annular member, and a gap member is placed between each adjacent pair of the free rollers to fill a gap defined between the free rollers. | 09-29-2011 |
20110260523 | FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME - In a friction drive device comprising first free rollers and second free rollers contacting each other at the outer circumferential surfaces thereof to frictionally transmit power from the second free rollers to the first free rollers, in order to minimize the slippage between the first and second free rollers, minimize the power loss and cause the first free rollers to move as designed, an outer peripheral part of each first free roller defining an outer circumferential surface thereof has a different stiffness from that of an outer peripheral part of each second free roller defining an outer circumferential surface thereof. | 10-27-2011 |
20120016646 | DEVICE FOR ESTIMATING STATE QUANTITY OF SKID MOTION OF VEHICLE - A device for estimating the state quantity of a skid motion of a vehicle is provided with an element which finds road surface reaction force model values of respective wheels and a skid motion state quantity model value using a vehicle model including a friction characteristic model between the wheels and the road surface, an element which finds the deviation between the lateral acceleration model value generated in a predetermined position of the vehicle by the resultant force of the road surface reaction force model values and the lateral acceleration detected value indicated by the output of an actual lateral acceleration detecting means, and an element which determines, as the estimated value of the skid motion state quantity, a value obtained by adding a value obtained by passing the deviation through a filter having a high-cut characteristic to the skid motion state quantity model value. | 01-19-2012 |
20120029783 | ROAD SURFACE FRICTION COEFFICIENT ESTIMATING DEVICE - A road surface friction coefficient estimating device includes a means which finds a first estimated value Mnsp_estm of an external force to be compared (S | 02-02-2012 |
20120032496 | WHEEL, AND FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME - [Task] To allow a wheel that provides a performance required for use in an omni-directional vehicle to be manufactured in an efficient manner. | 02-09-2012 |
20120061156 | FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME - Heat generated by a drive source of a friction drive device such as an electric motor is allowed to efficiently dissipate to the atmosphere, and the friction drive device and an omni-directional vehicle using the same is designed in a highly compact manner. Left and right electric drive devices are placed on a central axial line of left and right rotatable drive members, and external teeth members serving as output members of the electric drive devices are directly connected to the respective rotatable drive members in a torque transmitting and heat transmitting relationship. | 03-15-2012 |
20120150408 | CONTROL DEVICE OF OMNIDIRECTIONAL VEHICLE - An omnidirectional vehicle capable of enhancing straight-line stability is provided. | 06-14-2012 |
20120150410 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - A control device of an inverted pendulum type vehicle capable of simplifying the steering of the vehicle, and of improving handling quality thereof, is provided. A control unit | 06-14-2012 |
20120158255 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - In an inverted pendulum type vehicle having a traveling motion unit, when a component about an axis in a second direction and a component about an axis in a first direction from within a tilt error between an actual tilt angle and a desired tilt angle of the payload supporting part are defined as θbe_x_s and θbe_y_s, respectively, and when a component in the first direction and a component in the second direction from within a traveling velocity of a representative point of the vehicle in a stationary state in which θbe_x_s and θbe_y_s are retained constant are defined as θb_x_stb and θb_y_stb, respectively, a traveling motion of the traveling motion unit is controlled so that a ratio of a magnitude of θb_x_stb with respect to a magnitude of θbe_x_s and a ratio of a magnitude of θb_y_stb with respect to θbe_y_s becomes a ratio different from each other. | 06-21-2012 |
20120166049 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - In an inverted pendulum type vehicle, a manipulated variable for control of a traveling motion unit is determined using adjustment parameters Ki_x, Ki_y (i=1, 2, 3) and θb_x_obj, θb_y_obj, which changes its value in accordance with whether it is in the loaded state in which an object to be transported is loaded on a loading part of the inverted pendulum type vehicle, or whether it is in the non-loaded state in which the object to be transported is not loaded thereon. The adjustment parameters are changed at a faster rate of change in the case of the transition from the loaded state to the non-loaded state, than in the case of the transition from the non-loaded state to the loaded state. The adjustment parameters for control are changed appropriately during transition while suppressing occurrence of slipping of the traveling motion unit. | 06-28-2012 |
20120166056 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle includes a loaded mode in which an object to be transported is loaded on a boarding unit, and a non-loaded state mode in which the object to be transported is not loaded thereon. When traveling velocities of a representative point of the vehicle in a steady-state, in which tilt errors θbe_x_s, θbe_y_s between actual tilt angles of a boarding unit and desired tilt angles thereof are maintained, constant are Vb_x_stb, Vb_y_stb, a traveling motion of a traveling motion unit is controlled such that at least a ratio of a magnitude of Vb_x_stb with respect to a magnitude of θbe_x_s becomes a smaller ratio in the non-loaded state mode than in the loaded state mode. Such inverted pendulum type vehicle is difficult to move in the non-loaded state mode, and is easy to move in the loaded mode. | 06-28-2012 |
20120168235 | INVERTED PENDULUM TYPE VEHICLE - In an inverted pendulum type vehicle ( | 07-05-2012 |
20120169081 | FLUID PRESSURE TRANSMISSION DEVICE AND ROBOT HAND DEVICE - A fluid pressure transmission device is equipped with a plurality of driving fluid pressure cylinders | 07-05-2012 |
20120173041 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - Provided is a control device of an inverted pendulum type vehicle capable of moving the vehicle toward a desired direction easily. In the inverted pendulum type vehicle | 07-05-2012 |
20120173042 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - A control device of an inverted pendulum type vehicle capable of easily performing a circling movement of the vehicle, without requiring complex maneuvering operation. A control unit | 07-05-2012 |
20120173043 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - To provide a control device of an inverted pendulum type vehicle capable of making an occupant perform boarding action or dismounting action easily. A traveling motion unit controlling element | 07-05-2012 |
20120173086 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - A control device of an inverted pendulum type vehicle capable of controlling fluctuation of a traveling velocity of a vehicle according to operating state of the vehicle. A traveling motion unit controlling element | 07-05-2012 |
20120173088 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - Provided is a controller for an inverted pendulum type vehicle capable of moving the vehicle smoothly. The inverted pendulum type vehicle | 07-05-2012 |
20120173106 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - Provided is a controller of an inverted pendulum type vehicle capable of being moved smoothly by a guided subject as a support. In the inverted pendulum type vehicle | 07-05-2012 |
20120173107 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - Provided is a control device capable of imparting a driving force appropriate for controlling a tilt angle of a loading part to a traveling motion unit, despite the weight of an object to be transported mounted on the loading part capable of freely tilting of an inverted pendulum type vehicle. Velocity command values for defining a desired value of a traveling velocity of a traveling motion unit | 07-05-2012 |
20120173108 | INVERTED PENDULUM TYPE VEHICLE - According to an inverted pendulum type vehicle | 07-05-2012 |
20120173109 | INVERTED PENDULUM TYPE VEHICLE - A desired travelling velocity of a representative point of a vehicle | 07-05-2012 |
20120173114 | CONTROL DEVICE OF INVERTED PENDULUM TYPE MOBILE APPARATUS - Provided is a control device of an inverted pendulum type mobile apparatus capable of support the body of a user on a base body with a foot of the user standing on the floor in a reclining state. If the reclining state where the user has the body supported by the base body with a foot thereof standing on the floor when the mobile apparatus | 07-05-2012 |
20120175175 | INVERTED PENDULUM TYPE VEHICLE - The present invention provides an inverted pendulum type vehicle which can perform a turning movement with ease without requiring any additional device even though the vehicle is configured to travel on a single drive wheel. A substantially vertical principal axis of inertia of the vehicle is tilted rearward with respect to a plumb vertical line. As result, when a rider shift his gravitational center in either lateral direction and tilts the vehicle in the corresponding direction, the main wheel is caused to turn around the principal axis of inertia so that the main wheel is steering in effect, and the vehicle can be turned in a desired direction. | 07-12-2012 |
20120179352 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - Provided is a control device of an inverted pendulum type vehicle capable of adjusting a deviation of a tilt angle of a base body from a desired tilt angle so as to maintain the vehicle in a normal state where the tilt angle matches the desired tilt angle and the vehicle is in halt. When an update condition for updating a tilt offset adjusting variable θb_xy_offset is satisfied (STEP | 07-12-2012 |
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 |