公开(公告)号：US2329564A

公开(公告)日：1943-09-14

申请号：US45138842

申请日：1942-07-18

申请人： THOMAS FRANK E

发明人： THOMAS FRANK E

IPC分类号： A63H11/18 ,  A63H13/02 ,  A63H13/12 ,  A63H31/00

CPC分类号： A63H13/12 ,  A63H11/20 ,  A63H13/02 ,  A63H31/00

公开(公告)号：US1638332A

公开(公告)日：1927-08-09

申请号：US1501425

申请日：1925-03-12

申请人： VITTORIO GOBBATO

发明人： VITTORIO GOBBATO

IPC分类号： A63H11/18

CPC分类号： A63H11/20

公开(公告)号：US20210316226A1

公开(公告)日：2021-10-14

申请号：US17213865

申请日：2021-03-26

申请人： NINTENDO CO., LTD.

发明人： Hironori FURUIKE ,  Toshiaki IWAO ,  Kazuhiko KORIYAMA ,  Yasuhisa KITANO ,  Takaki FUJINO ,  Keizo OTA

IPC分类号： A63H11/18 ,  A63H31/08

摘要： A walking toy in which if a torso is moved forward walking motion is performed has the torso, two legs. The walking toy includes a crank member having a pair of crank eccentric shafts. Each of the legs has a motion member giving rotational force to the crank member when the torso moves forward. Each of the motion members has an eccentric shaft connecting part pivotably connected to the corresponding crank eccentric shaft, a torso cooperation part, and an action part on which force received from the walking surface act. Projections are formed at the torso cooperation part, while grooves are formed at the torso. If the action part of the one leg moves rearward, the motion member moves to thereby impart rotational force to the crank member and, the other leg is moved forward due to rotation of the crank member, and then contacts the walking surface.

公开(公告)号：US09675896B2

公开(公告)日：2017-06-13

申请号：US14609676

申请日：2015-01-30

申请人： MD Works Company Limited

发明人： Ryota Morikawa ,  Takayuki Takano

IPC分类号： A63H11/18 ,  A63H29/04 ,  A63H31/08 ,  A63H29/22

CPC分类号： A63H11/18 ,  A63H29/04 ,  A63H29/22 ,  A63H31/08

摘要： A walking toy includes a body on which gravity center position adjusting members and paired legs are supported to be able to swing in a forward/backward direction, and a gearbox which has a crank mechanism for forcibly swinging the paired legs alternately forward and backward in a forcible swinging direction and which is mounted in the body. Each of the paired legs has a bottom which is configured to be in contact with a floor surface and which is formed into a curved face curved in the forcible swinging direction. The gearbox is driven by a torsion coil spring and has a lever which rotates a drive gear of a gear train for transmitting rotation of the torsion coil spring to an output shaft for rotating the crank mechanism.

公开(公告)号：US06904334B2

公开(公告)日：2005-06-07

申请号：US10390494

申请日：2003-03-17

申请人： Yasuharu Asano ,  Junichi Yamashita

发明人： Yasuharu Asano ,  Junichi Yamashita

IPC分类号： A63H3/46 ,  A63H11/00 ,  A63H11/18 ,  B25J5/00 ,  B25J13/00 ,  G06N3/00 ,  G10L11/02 ,  G06F19/00

CPC分类号： G06N3/008 ,  B25J13/003 ,  G05D2201/0217 ,  G10L25/78

摘要： A robot apparatus which may be turned to a sound source direction by a spontaneous whole-body concerted operation. With the possible range of rotation of the neck unit of a robot apparatus 1 of ±Y° and with the relative angle of the direction of a sound source S to the front side of the robot apparatus 1 of X°, the entire body trunk unit of the robot apparatus 1 is rotated through (X−Y)°, using the leg units, while the neck joint yaw axis of the robot apparatus is rotated through Y° to the direction of the sound source S, so that the robot apparatus is turned to the direction of the sound source S. If the robot apparatus 1 has found the face of a person already known to the robot apparatus through previous learning and has verified that the person has accosted the apparatus, the body trunk unit is rotated through Y°, at the same time as the neck joint yaw axis is rotated through −Y° to eliminate neck distortion as the apparatus is gazing at the object, so that the apparatus may face the sound source S aright by a spontaneous operation.

摘要翻译： 可以通过自发的全身协调操作而转向声源方向的机器人装置。 由机器人装置1的颈部单元的±Y°的旋转角度与声源S的方向相对于机器人装置1的前方的相对角度为X°，整个躯干部 使机器人装置1的颈关节偏转轴沿着声源S的方向旋转Y°，使机器人装置1通过（XY）°旋转，同时将机器人装置转向 声源S的方向。如果机器人装置1已经通过先前的学习找到了机器人装置已知的人的面部，并且已经证实该人已经搭载了该装置，则躯干单元旋转Y°， 同时当颈部关节偏转轴线通过-Y°旋转以消除颈部变形，因为装置正在注视物体，使得该装置可以通过自发操作面对声源S。

公开(公告)号：US20050080511A1

公开(公告)日：2005-04-14

申请号：US10500117

申请日：2002-12-19

申请人： Toru Takenaka ,  Hiroshi Gomi ,  Satoshi Shigemi ,  Takashi Matsumoto

发明人： Toru Takenaka ,  Hiroshi Gomi ,  Satoshi Shigemi ,  Takashi Matsumoto

IPC分类号： A63H11/18 ,  B25J5/00 ,  B25J13/08 ,  B25J19/00 ,  B62D57/02 ,  B62D57/032 ,  G06F19/00

CPC分类号： B25J13/085 ,  B25J19/0091 ,  B62D57/02 ,  B62D57/032

摘要： It is arranged such that displacement sensors (70) are installed at a position in or vicinity of elastic members (382), to generate outputs indicating a displacement of the floor contact end of a foot (22) relative to a second joint (18, 20), and a floor reaction force acting on the foot is calculated based on the outputs of the displacement sensors by using a model describing a relationship between the displacement and stress generated in the elastic members in response to the displacement, thereby enabling to achieve accurate calculation of the floor reaction force and more stable walking of a legged mobile robot (1). Further, a dual sensory system is constituted by combining different types of detectors, thereby enabling to enhance the detection accuracy. Furthermore, since it self-diagnoses whether abnormality or degradation occurs in the displacement sensors etc. and performs temperature compensation without using a temperature sensor, the detection accuracy can be further enhanced.

摘要翻译： 布置成使得位移传感器（70）安装在弹性构件（382）附近的位置处，以产生指示脚（22）的地板接触端相对于第二接头（18）的位移的输出， 20），并且通过使用描述弹性构件中产生的位移和应力之间的关系的模型，基于位移传感器的输出来计算作用在脚上的地板反作用力，从而能够实现准确 计算地板反作用力和更稳定的步行式移动机器人（1）。 此外，通过组合不同类型的检测器来构成双重感觉系统，从而能够提高检测精度。 此外，由于能够自动诊断位移传感器等是否发生异常或劣化，而是不使用温度传感器进行温度补偿，因此能够进一步提高检测精度。

公开(公告)号：US20050001575A1

公开(公告)日：2005-01-06

申请号：US10495652

申请日：2002-11-19

申请人： Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara ,  Hiroaki Kitano

发明人： Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara ,  Hiroaki Kitano

IPC分类号： A63H11/18 ,  B25J5/00 ,  B25J13/00 ,  B62D57/032

CPC分类号： B62D57/032

摘要： The present invention provides a biped (two-footed) walking mobile system, its walk controller, and walk control method therefore, which are to realize enhancing an walk stability, as well as a consumed energy saving. A walk controller (30) of a biped walking mobile system forms a gait data by a gait forming part (33) based on parameters from a gait stabilizing part (32), and drive-controls drive means of respective joint portions (15L, 15R-20L, 20R) of each leg portion based on said gait data. In this case, the walk controller (30) is so constituted as to selectively witch a powered mode to conduct ordinary drive-control and a passive mode to drive-control the drive means similarly with passive joints, whereby drive-controlling respective joint portions. The walk controller (30) preferably switches the drive and passive modes with respect to, for example, joint portions of knee and foot portions, or switches to the powered mode for kick-up and landing during walking motion, and to the passive mode for a free foot state.

摘要翻译： 本发明提供了一种两足动物（双脚）步行移动系统，其步行控制器和步行控制方法，其实现了步行稳定性的提高以及消耗的节能。 两足步行移动系统的步行控制器（30）基于来自步态稳定部件（32）的参数，通过步态形成部件（33）形成步态数据，并驱动控制各接合部（15L，15R -20L，20R）基于所述步态数据。 在这种情况下，步行控制器30构成为选择性地动力模式进行通常的驱动控制和被动模式，以类似于被动接头驱动控制驱动装置，由此驱动控制各个接合部分。 步行控制器（30）优选地将例如膝盖和脚部的关节部分的驱动和被动模式或者在步行运动期间切换到用于启动和着陆的动力模式，以及被动模式 一个自由的脚状态。

公开(公告)号：US6149491A

公开(公告)日：2000-11-21

申请号：US114366

申请日：1998-07-14

申请人： Abraham A. Arad ,  Janos Beny

发明人： Abraham A. Arad ,  Janos Beny

IPC分类号： A63H3/48 ,  A63H11/18

CPC分类号： A63H3/48 ,  A63H11/18

摘要： A doll includes a body and a head, two legs and two arms, each movably attached to the body. The doll includes a mechanism connected with the head, with each of the legs, and with the arms. The mechanism is configured to displace the legs frontwardly with respect to the body in alternating succession and to displace the head in lateral directions with respect to the body such that the head moves toward one lateral side of the body as one of the legs displaces frontwardly from the opposite lateral side of the body. Movement of the legs displaces the body of the doll in either a walking or a crawling mode. Further, a motor is connected with the mechanism to drive the mechanism to displace the legs, arms and head with respect to the body. An electrical circuit is connected with the motor and has a microphone. The circuit is configured to drive the motor when the microphone receives sound, particularly a user-generated command. Preferably, the circuit includes an integrated circuit chip configured to drive the motor for a randomly specified period of time. The mechanism preferably includes a gear train having an input end connected with the motor and output ends connected with the legs, the arms and the head. Further, the mechanism preferably includes several separate linkages connected with the legs, the arms and the head, each linkage pivoting the associated appendages or the head with respect to the body.

摘要翻译： 娃娃包括身体和头部，两条腿和两条手臂，每个可移动地连接到身体。 娃娃包括与头部连接的机构，每个腿部和手臂。 该机构构造成相对于主体相对于主体相对于身体相对地向前移动腿部并且使头部相对于主体在横向方向上移位，使得头部朝着身体的一个侧面移动，因为一个腿部从 身体的相对的侧面。 腿的运动以步行或爬行模式替代娃娃的身体。 此外，马达与机构连接以驱动机构相对于主体移动腿部，臂部和头部。 电路与电机连接并具有麦克风。 电路被配置为当麦克风接收到声音时驱动电机，特别是用户生成的命令。 优选地，电路包括被配置为随机指定时间段驱动马达的集成电路芯片。 该机构优选地包括具有与马达连接的输入端和与腿，臂和头连接的输出端的齿轮系。 此外，机构优选地包括与腿，臂和头连接的几个单独的连接件，每个连杆相对于主体枢转相关联的附属物或头部。

公开(公告)号：US6146235A

公开(公告)日：2000-11-14

申请号：US7813

申请日：1998-01-15

申请人： Sostene Migliorati

发明人： Sostene Migliorati

IPC分类号： A63H3/46 ,  A63H3/48 ,  A63H11/18 ,  A63H13/02 ,  A63H29/22

CPC分类号： A63H3/48 ,  A63H11/18

摘要： A movement assembly particularly for the legs of a doll comprises a geared transmission whereof the end wheel, supported on the body structure of the doll, has two opposite eccentric pins (48,48'), one for eah leg. On each of the pins a movable U-shoped element (50') is rotatably engaged and is mounted and restrained to the body structure of the doll in order to be driven by the respective eccentric pin in an upward and downward motion and simultaneously an oscillating movement. The U-shaped element has a pin (58) for assembly of the leg, which can be mounted thereon with the possibility of being rotated around the pin.

摘要翻译： 特别是用于玩偶的腿部的移动组件包括齿轮传动装置，支撑在玩偶的身体结构上的端轮具有两个相对的偏心销（48,48'），一个用于电动腿。 在每个销上，可移动的U型鞋元件（50'）可旋转地接合并且被安装和约束到玩偶的身体结构，以便由相应的偏心销以向上和向下的运动驱动，同时摆动 运动。 U形元件具有用于组装腿的销（58），该销可以安装在其上，可能围绕销旋转。

公开(公告)号：US6095887A

公开(公告)日：2000-08-01

申请号：US222205

申请日：1998-12-29

申请人： Jaime Ferri Llorens

发明人： Jaime Ferri Llorens

IPC分类号： A63H11/00 ,  A63H11/08 ,  A63H11/18

CPC分类号： A63H11/08 ,  A63H11/00

摘要： The mechanism comprises an electric motor 12 capable of rotating in two directions and transmitting rotational movement through an endless belt 14 and two reducer trains 15, 16 to a clutch assembly 17 comprising a center drive wheel 18 and two driven wheels or pinions 19, 20, one on each side, which rotate in a mutually excluding manner depending on the rotational direction of drive wheel 18, its facing side surfaces presenting saw teeth 21, 22 of an appropriate configuration. When the mechanism is activated by removing the pacifier 5 from the doll's mouth, a first phase is executed, consisting in an unsteady walking motion generated by eccentric discs 25 and connecting rods 26, 27; after a specified time has elapsed, this passes on to a second phase consisting in a fall and subsequent upright recovery of the doll, driven by a central wheel 32. FIG. 7.

摘要翻译： 该机构包括能够沿两个方向旋转并将旋转运动通过环形带14和两个减速器列车15,16传递到包括中心驱动轮18和两个从动轮或小齿轮19,20的离合器组件17的电动机12， 每侧有一个，其根据驱动轮18的旋转方向以相互排除的方式旋转，其相对的侧表面具有适当构造的锯齿21,22。 当通过从娃娃的嘴部移除安抚奶嘴5来启动机构时，执行第一阶段，其包括由偏心圆盘25和连杆26,27产生的不稳定步行运动; 经过一段指定的时间后，这转到第二阶段，该阶段包括由中央轮32驱动的玩偶的跌倒和随后的直立恢复。 7。