011216879    **Image available**
WPI Acc No: 97-194804/199718
XRPX Acc No: N97-160966
  Legged walking robot gait generating control system - processes
  inclination and joint rotation data according to predetermined criteria
  in ROM
Number of Countries: 004  Number of Patents: 003
Title Terms: LEG; WALKING; ROBOT; GAIT; GENERATE; CONTROL; SYSTEM; PROCESS;
  INCLINATION; JOINT; ROTATING; DATA; ACCORD; PREDETERMINED; CRITERIA; ROM
Derwent Class: Q22; X25
International Patent Class (Main): B25J-013/00; B62D-057/032
International Patent Class (Additional): B25J-005/00
Manual Codes (EPI/S-X): X25-F05A


010733161    **Image available**
WPI Acc No: 96-230116/199623
XRPX Acc No: N96-193246
  Motion control method for legged walking robot - adjusts control value
  for joints of lifted leg linkage, in response to detected external force,
  to shift landing position of lifted leg in direction in which external
  force acts
Number of Countries: 001  Number of Patents: 001
Title Terms: MOTION; CONTROL; METHOD; LEG; WALKING; ROBOT; ADJUST; CONTROL;
  VALUE; JOINT; LIFT; LEG; LINK; RESPOND; DETECT; EXTERNAL; FORCE; SHIFT;
  LANDING; POSITION; LIFT; LEG; DIRECTION; EXTERNAL; FORCE; ACT
Derwent Class: P62; T01; T06; X25
International Patent Class (Main): G06F-007/70
International Patent Class (Additional): B25J-005/00; G05B-019/04
Manual Codes (EPI/S-X): T01-J07B; T06-A04B; T06-D08F; X25-F05A

010449536    **Image available**
WPI Acc No: 95-350853/199545
XRPX Acc No: N95-261598
  Two foot mobile robot swinging on free leg with its mobility control
  system - has elastic member interposed between portion of body and
  portion of each leg and fastener extending through elastic member
Number of Countries: 001  Number of Patents: 001
Title Terms: TWO; FOOT; MOBILE; ROBOT; SWING; FREE; LEG; MOBILE; CONTROL;
  SYSTEM; ELASTIC; MEMBER; INTERPOSED; PORTION; BODY; PORTION; LEG; FASTEN;
  EXTEND; THROUGH; ELASTIC; MEMBER
Derwent Class: P62; T01; T06; X25
International Patent Class (Main): B25J-011/00
International Patent Class (Additional): G05B-019/00
Manual Codes (EPI/S-X): T01-J08A; T01-M02B; T06-A04; T06-D08F; X25-F05A

010446506    **Image available**
WPI Acc No: 95-347823/199545
  Multi-legged robot for transporting articles - comprises of five legs
  incorporating series of joints which enables each leg to bent in walking
  motion
Number of Countries: 001  Number of Patents: 001
Title Terms: MULTI; LEG; ROBOT; TRANSPORT; ARTICLE; COMPRISE; FIVE; LEG;
  INCORPORATE; SERIES; JOINT; ENABLE; LEG; BEND; WALKING; MOTION
Derwent Class: P62
International Patent Class (Main): B25J-005/00

010428688    **Image available**
WPI Acc No: 95-330008/199543
XRPX Acc No: N95-248343
  Hybrid sensor for detecting acceleration and angular velocity - has
  sensor detecting acceleration based on temp distribution of hermetically
  enclosed gas and sensor detecting angular velocity based on deviation of
  gas flow formed on several semiconductor substrates made into laminate
Number of Countries: 004  Number of Patents: 004
Title Terms: HYBRID; SENSE; DETECT; ACCELERATE; ANGULAR; VELOCITY; SENSE;
  DETECT; ACCELERATE; BASED; TEMPERATURE; DISTRIBUTE; HERMETIC; ENCLOSE;
  GAS; SENSE; DETECT; ANGULAR; VELOCITY; BASED; DEVIATE; GAS; FLOW; FORMING
  ; SEMICONDUCTOR; SUBSTRATE; MADE; LAMINATE
Derwent Class: S02
International Patent Class (Main): G01C-021/16; G01P-009/00; G01P-015/12
International Patent Class (Additional): G01C-021/06; G01P-015/00;
  G01P-015/08
Manual Codes (EPI/S-X): S02-C01B7; S02-G01X; S02-G03

010406483    **Image available**
WPI Acc No: 95-307813/199540
  Walking robot controller - drives surplus joints in specific direction so
  as to increase degree of stability of main part
Number of Countries: 001  Number of Patents: 001
Title Terms: WALKING; ROBOT; CONTROL; DRIVE; SURPLUS; JOINT; SPECIFIC;
  DIRECTION; SO; INCREASE; DEGREE; STABILISED; MAIN; PART
Derwent Class: P62; T06; X25
International Patent Class (Main): B25J-009/16
International Patent Class (Additional): B25J-005/00
Manual Codes (EPI/S-X): T06-D08F; X25-F05A

010406482    **Image available**
WPI Acc No: 95-307812/199540
  Robot walk controller - has legs provided with number of joints connected
  with upper part of robot body and joints are driven to make robot walk
Number of Countries: 001  Number of Patents: 001
Title Terms: ROBOT; WALKING; CONTROL; LEG; NUMBER; JOINT; CONNECT; UPPER;
  PART; ROBOT; BODY; JOINT; DRIVE; ROBOT; WALKING
Derwent Class: P62; T06; X25
International Patent Class (Main): B25J-009/16
International Patent Class (Additional): B25J-005/00; B25J-013/08;
  G05D-001/08
Manual Codes (EPI/S-X): T06-B01A; X25-F05A

010353217    **Image available**
WPI Acc No: 95-254531/199533
XRPX Acc No: N95-196488
  Locomotion control system for legged mobile robot - enables robot to walk
  while constantly maintaining stable attitude irrespective of any
  irregularities which may be present in terrain being navigated
Number of Countries: 001  Number of Patents: 001
Title Terms: CONTROL; SYSTEM; LEG; MOBILE; ROBOT; ENABLE; ROBOT; WALKING;
  CONSTANTLY; MAINTAIN; STABILISED; ATTITUDE; IRRESPECTIVE; IRREGULAR;
  PRESENT; TERRAIN
Derwent Class: P62; T06; X25
International Patent Class (Main): B25J-009/06
Manual Codes (EPI/S-X): T06-D07B; X25-A03E

010331798    **Image available**
WPI Acc No: 95-233490/199531
XRPX Acc No: N95-181983
  System for detection and control of position of mobile robot such as
  legged walking robot - has array of optical detectors on opposite sides
  of robot foot, and arc in working space defining region having different
  attributes, e.g. difference in brightness from surrounding space
Number of Countries: 004  Number of Patents: 003
Title Terms: SYSTEM; DETECT; CONTROL; POSITION; MOBILE; ROBOT; LEG; WALKING
  ; ROBOT; ARRAY; OPTICAL; DETECT; OPPOSED; SIDE; ROBOT; FOOT; ARC; WORK;
  SPACE; DEFINE; REGION; ATTRIBUTE; DIFFER; BRIGHT; SURROUND; SPACE
Derwent Class: T01; T06; V06; X25
International Patent Class (Main): B25J-019/02; G05D-001/03
International Patent Class (Additional): B25J-005/00; G01B-011/00;
  G05D-001/02
Manual Codes (EPI/S-X): T01-J07B; T06-A07A; T06-B01A; T06-D08F; V06-N;
  X25-F05A

010329270    **Image available**
WPI Acc No: 95-231113/199530
XRPX Acc No: N95-180234
  Robot drive joint control system for ensuring stable movement of bi-ped
  walking robot - detects ground reaction force generated at foot-fall, and
  calculates correction amount required for shifting centre of gravity in
  impact force absorbing direction
Number of Countries: 001  Number of Patents: 001
Title Terms: ROBOT; DRIVE; JOINT; CONTROL; SYSTEM; ENSURE; STABILISED;
  MOVEMENT; BI; WALKING; ROBOT; DETECT; GROUND; REACT; FORCE; GENERATE;
  FOOT; FALL; CALCULATE; CORRECT; AMOUNT; REQUIRE; SHIFT; CENTRE; GRAVITY;
  IMPACT; FORCE; ABSORB; DIRECTION
Derwent Class: T01; X25
International Patent Class (Main): G06F-007/70
Manual Codes (EPI/S-X): T01-J08A; X25-A03E; X25-F05A

010292300    **Image available**
WPI Acc No: 95-193559/199525
XRPX Acc No: N95-151942
  Legged mobile robot foot structure - has actuator for driving movable
  foot piece, with controller for controlling operation of actuator based
  on condition of walking
Number of Countries: 001  Number of Patents: 001
Title Terms: LEG; MOBILE; ROBOT; FOOT; STRUCTURE; ACTUATE; DRIVE; MOVE;
  FOOT; PIECE; CONTROL; CONTROL; OPERATE; ACTUATE; BASED; CONDITION;
  WALKING
Derwent Class: T06; X25
International Patent Class (Main): G05B-019/00
Manual Codes (EPI/S-X): T06-D08F; X25-F05A

010245664    **Image available**
WPI Acc No: 95-146919/199519
XRPX Acc No: N95-115338
  Legged mobile robot locomotion control system - includes device for
  modelling robot as rigid linkage mechanism for establishing required
  walking pattern on given floor surface
Number of Countries: 001  Number of Patents: 001
Title Terms: LEG; MOBILE; ROBOT; CONTROL; SYSTEM; DEVICE; MODEL; ROBOT;
  RIGID; LINK; MECHANISM; ESTABLISH; REQUIRE; WALKING; PATTERN; FLOOR;
  SURFACE
Derwent Class: T01; T06; X25
International Patent Class (Main): G05B-019/00
Manual Codes (EPI/S-X): T01-J07B; T06-A04; T06-D08F; X25-F05A

010150115    **Image available**
WPI Acc No: 95-051367/199507
XRPX Acc No: N95-040382
  Navigation control system for biped walking mobile robot - uses visual
  sensor, with pair of shape features selected in accordance with
  evaluation function to recognise current position of robot
Number of Countries: 001  Number of Patents: 001
Title Terms: NAVIGATION; CONTROL; SYSTEM; WALKING; MOBILE; ROBOT; VISUAL;
  SENSE; PAIR; SHAPE; FEATURE; SELECT; ACCORD; EVALUATE; FUNCTION;
  RECOGNISE; CURRENT; POSITION; ROBOT
Derwent Class: P62; T04; T06; X25
International Patent Class (Main): B25J-011/00
International Patent Class (Additional): B25J-009/00
Manual Codes (EPI/S-X): T04-D07D5; T06-B01; T06-D07B; X25-F05A

010064860    **Image available**
WPI Acc No: 94-332571/199441
XRPX Acc No: N94-261112
  Gait generation system for biped mobile robot having body and two legs -
  has device for generating gait of robot such that ZMP kinematically
  determined from motion of robot coincides with target ZMP
Number of Countries: 001  Number of Patents: 001
Title Terms: GAIT; GENERATE; SYSTEM; MOBILE; ROBOT; BODY; TWO; LEG; DEVICE;
  GENERATE; GAIT; ROBOT; KINEMATIC; DETERMINE; MOTION; ROBOT; COINCIDE;
  TARGET
Derwent Class: Q22; T01; T06; X25
International Patent Class (Main): B62D-057/02
International Patent Class (Additional): G05B-019/00
Manual Codes (EPI/S-X): T01-J08; T06-A04A; T06-D08F; X25-F05A


010056963    **Image available**
WPI Acc No: 94-324674/199440
XRPX Acc No: N94-254949
  Control system for legged mobile robot - with control summing basic and
  control correction amounts to provide sum to servo motor
Number of Countries: 001  Number of Patents: 001
Title Terms: CONTROL; SYSTEM; LEG; MOBILE; ROBOT; CONTROL; SUM; BASIC;
  CONTROL; CORRECT; AMOUNT; SUM; SERVO; MOTOR
Derwent Class: P62; T01; T06; X25
International Patent Class (Main): B25J-011/00
International Patent Class (Additional): B25J-009/00
Manual Codes (EPI/S-X): T01-J08A; T06-D08F; X25-F05A

010034626    **Image available**
WPI Acc No: 94-302339/199437
XRPX Acc No: N94-237621
  Control system for legged mobile robot - has computer for correcting
  basic control amount to determine control value for each servo motor and
  for providing determined control value to servo motor
Number of Countries: 001  Number of Patents: 001
Title Terms: CONTROL; SYSTEM; LEG; MOBILE; ROBOT; COMPUTER; CORRECT; BASIC;
  CONTROL; AMOUNT; DETERMINE; CONTROL; VALUE; SERVO; MOTOR; DETERMINE;
  CONTROL; VALUE; SERVO; MOTOR
Derwent Class: P62; T06; X25
International Patent Class (Main): B25J-011/00
International Patent Class (Additional): B25J-009/00
Manual Codes (EPI/S-X): T06-D08F; X25-F05A

009987805    **Image available**
WPI Acc No: 94-255516/199431
XRPX Acc No: N94-201197
  Locomotion control system for legged mobile robot - determines positional
  correction amt. for robot's hip position, determines robot's attitude
  from corrected hip position and foot position, and calculates target
  joint angles of robot
Number of Countries: 001  Number of Patents: 001
Title Terms: CONTROL; SYSTEM; LEG; MOBILE; ROBOT; DETERMINE; POSITION;
  CORRECT; AMOUNT; ROBOT; HIP; POSITION; DETERMINE; ROBOT; ATTITUDE;
  CORRECT; HIP; POSITION; FOOT; POSITION; CALCULATE; TARGET; JOINT; ANGLE;
  ROBOT
Derwent Class: T01; T06; X25
International Patent Class (Main): G05B-019/00
Manual Codes (EPI/S-X): T01-J07; T06-A04; T06-D07B; X25-A03E


009870683    **Image available**
WPI Acc No: 94-150585/199418
XRPX Acc No: N94-118220
  Locomotion control system of biped walking robot - feedback-compensates
  discrepancy between robot's rigidity assumed in model and actual robot's
  rigidity to enable robot to be treated in terms of ideally rigid model
Number of Countries: 001  Number of Patents: 001
Title Terms: CONTROL; SYSTEM; WALKING; ROBOT; FEEDBACK; COMPENSATE;
  DISCREPANCY; ROBOT; RIGID; ASSUME; MODEL; ACTUAL; ROBOT; RIGID; ENABLE;
  ROBOT; TREAT; TERM; IDEAL; RIGID; MODEL
Derwent Class: P62; T01; T06; X25
International Patent Class (Main): B25J-011/00
International Patent Class (Additional): B25J-009/00
Manual Codes (EPI/S-X): T01-J07B; T06-A07B; T06-D08F; X25-F05A

009805363    **Image available**
WPI Acc No: 94-085218/199411
XRPX Acc No: N94-066714
  Movement control system for foot of mobile robot - uses predefined gait
  parameters to determine foot landing position on e.g. stair
Number of Countries: 004  Number of Patents: 004
Title Terms: MOVEMENT; CONTROL; SYSTEM; FOOT; MOBILE; ROBOT; PREDEFINED;
  GAIT; PARAMETER; DETERMINE; FOOT; LANDING; POSITION; STAIR
Derwent Class: P62; Q22; T01; T06; X25
International Patent Class (Main): B25J-011/00; B62D-057/032
International Patent Class (Additional): B25J-009/00
Manual Codes (EPI/S-X): T01-J07B; T06-D08F; X25-F05A

009694739    **Image available**
WPI Acc No: 93-388292/199349
XRPX Acc No: N93-299870
  Impact absorber esp. air or oil filled for legged mobile robot - uses
  sensors, control unit and air or oil filled container round part of
  mobile robot and designed to cushion impact with extraneous object
Number of Countries: 004  Number of Patents: 004
Title Terms: IMPACT; ABSORB; AIR; OIL; FILLED; LEG; MOBILE; ROBOT; SENSE;
  CONTROL; UNIT; AIR; OIL; FILLED; CONTAINER; ROUND; PART; MOBILE; ROBOT;
  DESIGN; CUSHION; IMPACT; EXTRANEOUS; OBJECT
Derwent Class: P62; Q17; Q22; T06; X25
International Patent Class (Main): B25J-019/00; B62D-057/02
International Patent Class (Additional): B25J-019/06; B60R-021/34
Manual Codes (EPI/S-X): T06-D08F; X25-F05A

09685607    **Image available**
WPI Acc No: 93-379161/199348
XRPX Acc No: N93-292810
  Attitude stabilisation control system for legged mobile robot - has
  mathematical models describing robot behaviour modified in response to
  error between actual behaviour by manipulated variable
Number of Countries: 004  Number of Patents: 004
Title Terms: ATTITUDE; STABILISED; CONTROL; SYSTEM; LEG; MOBILE; ROBOT;
  MATHEMATICAL; MODEL; DESCRIBE; ROBOT; BEHAVE; MODIFIED; RESPOND; ERROR;
  ACTUAL; BEHAVE; MANIPULATE; VARIABLE
Derwent Class: Q22; T01; T06; X25
International Patent Class (Main): B62D-057/032; G05B-017/00
Manual Codes (EPI/S-X): T01-J04; T06-B01B; T06-D08F; X25-F05A

009058178    **Image available**
WPI Acc No: 92-185560/199223
XRPX Acc No: N92-140084
  Locomotion control system for biped robot - uses analog velocity control
  digital positional control feed forward angle control and predefined
  motion time series
Number of Countries: 004  Number of Patents: 005
Title Terms: CONTROL; SYSTEM; ROBOT; ANALOGUE; VELOCITY; CONTROL; DIGITAL;
  POSITION; CONTROL; FEED; FORWARD; ANGLE; CONTROL; PREDEFINED; MOTION;
  TIME; SERIES
Derwent Class: P62; Q22; T06; X25
International Patent Class (Main): B62D-057/02; G05B-019/00
International Patent Class (Additional): B25J-009/16; B62D-057/032
Manual Codes (EPI/S-X): T06-D08E; X25-F05A; X25-L02


009058177    **Image available**
WPI Acc No: 92-185559/199223
XRPX Acc No: N92-140083
  Walking robot locomotion control system - has moment generated at foot
  landing detected and drive speed of joints controlled in proportion to
  detected moment
Number of Countries: 004  Number of Patents: 005
Title Terms: WALKING; ROBOT; CONTROL; SYSTEM; MOMENT; GENERATE; FOOT;
  LANDING; DETECT; DRIVE; SPEED; JOINT; CONTROL; PROPORTION; DETECT; MOMENT
Derwent Class: Q22; T06; X25
International Patent Class (Main): B62D-057/02; G05B-019/00
International Patent Class (Additional): B62D-057/032
Manual Codes (EPI/S-X): T06-B01A; X25-F05A

008979447    **Image available**
WPI Acc No: 92-106716/199214
XRPX Acc No: N92-080000
  Locomotion control for legged walking robot -  uses difference between
  detected and target values to provide feedback control
Number of Countries: 004  Number of Patents: 004
Title Terms: CONTROL; LEG; WALKING; ROBOT; DIFFER; DETECT; TARGET; VALUE;
  FEEDBACK; CONTROL
Derwent Class: Q22; T06; X25
International Patent Class (Main): B62D-057/02; B62D-057/032
International Patent Class (Additional): B62D-057/03; G05D-001/08
Manual Codes (EPI/S-X): T06-B01A; T06-D08F; X25-F05A


008675867    **Image available**
WPI Acc No: 91-179887/199125
XRPX Acc No: N91-137836
  Articulated structure for legged walking robot - include electric motor
  for angularly moving robot leg in pitch direction, and has axially
  aligned output shaft
Number of Countries: 004  Number of Patents: 003
Title Terms: ARTICULATE; STRUCTURE; LEG; WALKING; ROBOT; ELECTRIC; MOTOR;
  ANGULAR; MOVE; ROBOT; LEG; PITCH; DIRECTION; AXIS; ALIGN; OUTPUT; SHAFT
Derwent Class: P62; Q22; T06; X25
International Patent Class (Main): B62D-057/02
International Patent Class (Additional): B25J-005/00; B25J-011/00;
  G05D-001/10
Manual Codes (EPI/S-X): T06-B01; X25-F05A

008675862    **Image available**
WPI Acc No: 91-179882/199125
XRPX Acc No: N91-137831
  Foot for two-legged robot - has rubberised sole parts with electric
  motors for forward tipping and sideways rotation
Number of Countries: 004  Number of Patents: 004
Title Terms: FOOT; TWO; LEG; ROBOT; RUBBER; SOLE; PART; ELECTRIC; MOTOR;
  FORWARD; TIP; SIDEWAYS; ROTATING
Derwent Class: Q22
International Patent Class (Main): B62D-057/032
International Patent Class (Additional): B62D-057/02

008505241    **Image available**
WPI Acc No: 91-009325/199102
XRPX Acc No: N91-007304
  Legged walking robot and controller - provides smooth posture control by
  elimination of frictional interference between ground and leg joint
  driving force
Number of Countries: 004  Number of Patents: 004
Title Terms: LEG; WALKING; ROBOT; CONTROL; SMOOTH; POSTURE; CONTROL;
  ELIMINATE; FRICTION; INTERFERENCE; GROUND; LEG; JOINT; DRIVE; FORCE
Derwent Class: Q22; T06; X25
International Patent Class (Main): B62D-057/02; B62D-057/032
International Patent Class (Additional): B62D-057/03
Manual Codes (EPI/S-X): T06-D08F; X25-F05A

007929458
WPI Acc No: 89-194570/198927
XRPX Acc No: N89-148796
  Articulated mechanism without flexible hose - has angular displacement
  motor as piston rotates, vanes therein connect pressure fluid to chambers
  on opposite side of side plate
Number of Countries: 004  Number of Patents: 003
Title Terms: ARTICULATE; MECHANISM; FLEXIBLE; HOSE; ANGULAR; DISPLACEMENT;
  MOTOR; PISTON; ROTATING; VANE; CONNECT; PRESSURE; FLUID; CHAMBER; OPPOSED
  ; SIDE; SIDE; PLATE
Derwent Class: P62; Q51; Q57; Q63
International Patent Class (Main): F15B-011/00
International Patent Class (Additional): B25J-009/06; F01C-009/00;
  F15B-015/12; F16D-031/02