Abstract: A load sensor that is inoperable even when applied with a large load, has a simple structure easily designed to be lightweight and compact and can detect a load with a high accuracy, and a legged robot apparatus including the load sensor in each of legs thereof. The robot apparatus includes the load sensors counting more than one and each of which detects, as an external force, a reaction applied when the leg abuts a ground surface. The load sensor includes a diaphragm, an activating member that is applied with an external force, a driving member forming along with the activating member a double structure and which presses the pressure-sensitive portion, and an elastic member.

Abstract: In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.

Abstract: In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.

Abstract: There are provided a load sensor that cannot be broken even when applied with a large load, has a simple structure easily designed to be lightweight and compact and can detect a load with a high accuracy, and a legged robot apparatus including the load sensor in each of legs thereof. The robot apparatus includes the load sensors counting more than one and each of which detects, as an external force, a reaction applied when the leg abuts a ground surface. The load sensor (10) includes a diaphragm (11) having a pressure-sensitive portion (11a), an activating member (14) that is applied with an external force, a driving member (17) forming along with the activating member (14) a double structure and which presses the pressure-sensitive portion (11a), and an elastic member (15) that is displaced generally proportionally to the magnitude of an external force applied to the activating member (14) to convey the external force to the driving member (17).

Abstract: There is disposed a middle comprising a metallic inner middle (20) in which a movement (30) is housed, and a metallic outer middle (21) covering at least a part of the inner middle, and an elastic shock absorber (35) disposed between the inner middle and the outer middle.

Abstract: An optical disk apparatus for driving an optical disk on which a groove wobble corresponding to a signal acquired from frequency modulation of biphase modulated address information, and a mark for representing phase information placed inside the wobble are preformatted, and having the biphase bit count “a” (“a” is a natural number) between two of the adjacent marks, and the channel bit count “n” (“n” is a natural number) between two of the adjacent marks. The apparatus includes first clock signal production device for generating a first clock signal utilizing an “n” frequency multiple of the reproduction signal of the clock mark, wobble signal reproduction device for reproducing from the optical disk a wobble signal corresponding to the groove wobble, and frequency demodulation device for acquiring the address information by frequency demodulation of the wobble signal.

Abstract: An entertainment robot whose modules such as paws, hind legs and head can be replaced without the power off. Specifically, of the ten pins of the OPEN-R connector 500, the DGND and PWRGND ones are formed longer than the other.

Abstract: An optical disk apparatus for driving an optical disk on which a groove wobble corresponding to a signal acquired from frequency modulation of biphase modulated address information, and a mark for representing phase information placed inside the wobble are preformatted, and having the biphase bit count “a” (“a” is a natural number) between two of the adjacent marks, and the channel bit count “n” (“n” is a natural number) between two of the adjacent marks. The apparatus includes first clock signal production means for generating a first clock signal utilizing an “n” frequency multiple of the reproduction signal of the clock mark, wobble signal reproduction means for reproducing from the optical disk a wobble signal corresponding to the groove wobble, and frequency demodulation means for acquiring the address information by frequency demodulation of the wobble signal.

Abstract: A frequency demodulating circuit for demodulating a frequency-modulated signal expressing digital data. The circuit includes a waveform shaping circuit for acquiring a binary signal from the frequency-modulated signal and a detector for decoding the binary signal and response to clock signals to obtain the digital data. A circuit also includes a clock signal generating circuit for generating the clock signals which have a frequency of the frequency-modulated signal corresponding to “one” of the digital data and a frequency higher than the frequency of the frequency-modulated signal by a multiple, which corresponds to a “zero” of the digital data.

Abstract: A frequency demodulating circuit, optical disk and preformatting device having a decoder for decoding a bit “0” and a bit “1” for reproducing address information recorded as a wobble groove. The decoder determines whether an output is a digital “1” or a digital “0” so that even if the waveform of the reproduced signal is erratic or unstable due to a defect, a digital “1” or a digital “0” can be correctly identified by utilizing window pulses. Changes in the slop of a zero cross point of the groove wobble are prevented from occurring by making the groove wobble amplitude fluctuate according to the signal frequency modulation which also greatly reduces jitter and allowing satisfactory acquisition of the address information. Oversampling clock signals of biphase bits are generated by frequency division of data clock signals.

Abstract: A format of a recording medium suitable for a larger capacity, a higher transfer rate, and integration of pits/lands/grooves is provided. In a first method, in a recordable and reproduceable area, a twin-track structure of lands/grooves is configured such that tracks on which lands become recording tracks and tracks on which grooves become recording tracks form a double spiral. In a read-only area, pits are arrayed such that tracks in the radial direction of the disk are formed in a data area. In a second method, in a recordable and reproduceable area, a land/groove-alternate track structure is configured such that grooves become data recording tracks in the circular track next to the circular track in which lands become data recording tracks, and lands become data recording tracks in the next circular track. In the read-only area, pits are arrayed such that tracks in the radial direction of the disk are formed in the data area.

Abstract: A format of a recording medium suitable for a larger capacity, a higher transfer rate, and integration of pits/lands/grooves is provided. In a first method, in a recordable and reproduceable area, a twin-track structure of lands/grooves is configured such that tracks on which lands become recording tracks and tracks on which grooves become recording tracks form a double spiral. In a read-only area, pits are arrayed such that tracks in the radial direction of the disk are formed in a data area. In a second method, in a recordable and reproduceable area, a land/groove-alternate track structure is configured such that grooves become data recording tracks in the circular track next to the circular track in which lands become data recording tracks, and lands become data recording tracks in the next circular track. In the read-only area, pits are arrayed such that tracks in the radial direction of the disk are formed in the data area.

Abstract: A slit pipe which is compressible in a radial direction thereof is attached to a watch case between a pair of leg portions. A groove is formed in a link of a watch band so as to be engaged with the slit pipe. The groove has an opening formed on the underside of the link, an introducing portion communicating with the opening, a groove portion formed at an innermost end of the groove. The opening has a width smaller than an outer diameter of the pipe, and larger than an outer diameter of the pipe when compressed. The groove portion has an inner diameter larger than the outer diameter of the pipe. Thus, the pipe may be inserted in the groove portion from the opening passing through the introducing portion.

Abstract: An alarm device is provided with a temperature sensor for detecting an internal temperature of a magneto-optical disc drive unit having a cooling fan and a replaceable dust filter. When the internal temperature becomes higher than or equal to a predetermined temperature due to the breakdown of the fan or the silting of the filter, the alarm device indicates an abnormal condition of the drive unit by flashing an operation indicating lamp.

Abstract: An optical recording and reproducing apparatus comprising an erroneous recording prevention component which prevents this apparatus from making an erroneous recording or erasing operation while it records data on a writable disk. The apparatus is arranged such that, while it is performing a recording or erasing operation, a state of its beam of light just about to go off the control point of tracking and a state of its beam of light just about to go off the control point of focusing are each monitored and, when either of the states is detected, the recording or erasing operation is canceled. Hence, laser power of the beam of light can be controlled before the beam of light completely goes off the control point of tracking, thereby preventing the beam of light from affecting data having been recorded along other tracks.

Abstract: A rotation control for a magnet used in a magneto-optical recording system having a first coil that rotates a permanent magnet to invert the polarity of its magnetic field applied to an optical recording type disc and a second coil provided at the position displaced from the central line of the first coil and for applying a driving force to the permanent magnet when the permanent magnet begins to rotate, wherein the permanent magnet can be settled in quite a short time after it is inverted in polarity by controlling a drive current applied to the second coil.

Abstract: The present invention relates to an external magnetic field inverting apparatus for magneto-optical disc apparatus in which a permanent magnet (15) is used as external magnetic field generating means and a winding (25) is located so as to surround the permanent magnet (15), and the permanent magnet (15) can be half-rotated in a desired direction by a rotation force generated by a repulsive force by an external magnetic field Hm generated by this permanent magnet (15) and a magnetic field Hc resulting from supplying a current to the winding (25), whereby the apparatus of the invention can be reduced in cost, increased in reliability and miniaturized in size.

Abstract: A process for treating a gas containing a fluorine compound which comprises the steps of contacting said gas with an aqueous solution as an absorbent containing aluminum fluoride and sulfate radical at a concentration of 3 to 30 g/l to absorb the fluorine compound, producing a solid phase including aluminum fluoride hydrate and/or basic aluminum fluoride by adding aluminum hydroxide and/or alumina to the resultant aqueous solution obtained in the absorbing step, and separating said solid phase from a slurry containing said solid phase obtained in the producing step.