Patents by Inventor Kazushi Akimoto

Kazushi Akimoto has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 10981617
    Abstract: Provided is an inverted pendulum type vehicle. A controller (20) includes a reference desired motion determiner (211), which sequentially determines a reference desired motion of a traveling motion unit (3) so as to stabilize the attitude of an object mounting unit (5), high-frequency idling state amount calculators (214), (42a) and (42b), which calculate the high-frequency idling state amount of the traveling motion unit (3), and a desired motion corrector (42g), which corrects the reference desired motion by a correction amount determined on the basis of the high-frequency idling state amount to reduce a high-frequency component of idling. The controller (20) controls an actuator unit (8) according to the desired motion obtained by correcting the reference desired motion.
    Type: Grant
    Filed: April 19, 2018
    Date of Patent: April 20, 2021
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Hideo Murakami, Kazumasa Ozaki, Tomohiro Kawakami, Kazushi Akimoto
  • Patent number: 10696326
    Abstract: The steering angles of front wheels 3f and rear wheels 3r of a vehicle 1 can be respectively controlled by a front wheel steering angle control actuator 35 and a rear wheel steering angle control actuator 44. If a steering wheel 20 is operated in a turning direction of the vehicle 1 while the vehicle 1 is traveling in a straight line, then a controller 60 changes the steering angle of the front wheels 3f to approach to a steering angle specified on the basis of an operation amount after the steering wheel 20 is operated, and also controls the front wheel steering angle control actuator 35 and the rear wheel steering angle control actuator 44 to change the steering angles of the rear wheels 3r to the opposite direction of the turning direction of the vehicle 1 immediately after the steering wheel 20 is operated.
    Type: Grant
    Filed: August 22, 2017
    Date of Patent: June 30, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Hiroshi Gomi, Yoshinao Sodeyama, Kazushi Akimoto, Osamu Kikuchi, Takashi Kudo
  • Patent number: 10543866
    Abstract: A vehicle includes a vehicle frame, a steering swivel unit supported on a head pipe of the vehicle frame and angularly movable about a steering axis, a front wheel angularly movable in unison with the steering swivel unit, and an automatic steering mechanism for angularly moving the steering swivel unit, wherein the vehicle frame includes a main frame extending rearwardly from the head pipe, and the steering mechanism includes a steering motor for angularly moving the steering swivel unit, the steering motor being supported on the main frame.
    Type: Grant
    Filed: December 18, 2017
    Date of Patent: January 28, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Makoto Araki, Kazushi Akimoto, Toru Takenaka
  • Patent number: 10207762
    Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction of a vehicle body (2) from a predetermined reference position with respect to the vehicle body (2), and determines a control input for an actuator (15), which can cause a moment in the roll direction to act on the vehicle body (2), so as to increase the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value in a state of presence of such displacement. The control device (60) controls the actuator (15) in accordance with the control input.
    Type: Grant
    Filed: June 16, 2016
    Date of Patent: February 19, 2019
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Kazushi Akimoto, Yuichi Uebayashi, Shinya Shirokura, Tomohiro Kawakami, Makoto Araki
  • Patent number: 10112675
    Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction from a prescribed reference position with respect to a vehicle body (2), and determines a control input for an actuator (15) which can cause a moment in the roll direction to act on the vehicle body (2) so as to reduce the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value. The control device (60) controls the actuator (15) in accordance with the control input.
    Type: Grant
    Filed: March 3, 2016
    Date of Patent: October 30, 2018
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Kazushi Akimoto, Yuichi Uebayashi, Shinya Shirokura, Tomohiro Kawakami, Makoto Araki
  • Publication number: 20180304954
    Abstract: Provided is an inverted pendulum type vehicle. A controller (20) includes a reference desired motion determiner (211), which sequentially determines a reference desired motion of a traveling motion unit (3) so as to stabilize the attitude of an object mounting unit (5), high-frequency idling state amount calculators (214), (42a) and (42b), which calculate the high-frequency idling state amount of the traveling motion unit (3), and a desired motion corrector (42g), which corrects the reference desired motion by a correction amount determined on the basis of the high-frequency idling state amount to reduce a high-frequency component of idling. The controller (20) controls an actuator unit (8) according to the desired motion obtained by correcting the reference desired motion.
    Type: Application
    Filed: April 19, 2018
    Publication date: October 25, 2018
    Inventors: Hideo Murakami, Kazumasa Ozaki, Tomohiro Kawakami, Kazushi Akimoto
  • Publication number: 20180178827
    Abstract: A vehicle includes a vehicle frame, a steering swivel unit supported on a head pipe of the vehicle frame and angularly movable about a steering axis, a front wheel angularly movable in unison with the steering swivel unit, and an automatic steering mechanism for angularly moving the steering swivel unit, wherein the vehicle frame includes a main frame extending rearwardly from the head pipe, and the steering mechanism includes a steering motor for angularly moving the steering swivel unit, the steering motor being supported on the main frame.
    Type: Application
    Filed: December 18, 2017
    Publication date: June 28, 2018
    Applicant: HONDA MOTOR CO., LTD.
    Inventors: Makoto ARAKI, Kazushi AKIMOTO, Toru TAKENAKA
  • Publication number: 20180057050
    Abstract: The steering angles of front wheels 3f and rear wheels 3r of a vehicle 1 can be respectively controlled by a front wheel steering angle control actuator 35 and a rear wheel steering angle control actuator 44. If a steering wheel 20 is operated in a turning direction of the vehicle 1 while the vehicle 1 is traveling in a straight line, then a controller 60 changes the steering angle of the front wheels 3f to approach to a steering angle specified on the basis of an operation amount after the steering wheel 20 is operated, and also controls the front wheel steering angle control actuator 35 and the rear wheel steering angle control actuator 44 to change the steering angles of the rear wheels 3r to the opposite direction of the turning direction of the vehicle 1 immediately after the steering wheel 20 is operated.
    Type: Application
    Filed: August 22, 2017
    Publication date: March 1, 2018
    Inventors: Toru Takenaka, Hiroshi Gomi, Yoshinao Sodeyama, Kazushi Akimoto, Osamu Kikuchi, Takashi Kudo
  • Patent number: 9688342
    Abstract: In a mobile vehicle 1 having a vehicle body 2, a front wheel 3f, and a rear wheel 3r, the steering control wheel 3f can be steered by a steering actuator 8 about a steering axis Csf which is tilted backward. The steering actuator 8 is controlled by a control device 15. The height a, from a ground surface 110, of the intersection point Ef of the steering axis Csf of the steering control wheel 3f and a virtual straight line connecting the ground contact point of the steering control wheel 3f and the center of axle of the steering control wheel 3f in a basic posture state of the mobile vehicle 1 is set to satisfy a prescribed condition.
    Type: Grant
    Filed: July 21, 2015
    Date of Patent: June 27, 2017
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Hiroshi Gomi, Kazushi Akimoto, Hiroyuki Makino, Yoichi Nishimura, Taihei Setoguchi, Naoyuki Saito, Kenji Muto, Keisuke Koitabashi, Shunichi Nakabayashi
  • Publication number: 20160375948
    Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction of a vehicle body (2) from a predetermined reference position with respect to the vehicle body (2), and determines a control input for an actuator (15), which can cause a moment in the roll direction to act on the vehicle body (2), so as to increase the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value in a state of presence of such displacement. The control device (60) controls the actuator (15) in accordance with the control input.
    Type: Application
    Filed: June 16, 2016
    Publication date: December 29, 2016
    Inventors: Toru Takenaka, Kazushi Akimoto, Yuichi Uebayashi, Shinya Shirokura, Tomohiro Kawakami, Makoto Araki
  • Publication number: 20160280307
    Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction from a prescribed reference position with respect to a vehicle body (2), and determines a control input for an actuator (15) which can cause a moment in the roll direction to act on the vehicle body (2) so as to reduce the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value. The control device (60) controls the actuator (15) in accordance with the control input.
    Type: Application
    Filed: March 3, 2016
    Publication date: September 29, 2016
    Inventors: Toru Takenaka, Kazushi Akimoto, Yuichi Uebayashi, Shinya Shirokura, Tomohiro Kawakami, Makoto Araki
  • Patent number: 9302730
    Abstract: A two-wheeled vehicle 1 includes a steering section 6 which steers a front wheel 4. The steering section includes a steering shaft link 13 which turns about a first steering axis 10 together with a second steering axis 11, a front-wheel support section 14 which turns the front wheel 4 about the second steering axis 11, and a first motor 15 which causes the steering shaft link 13 to turn. A caster angle ? based on the first steering axis 10 is positive or 0. A trail t1 based on the second steering axis 11 is positive. When the two-wheeled vehicle 1 is in a basic posture state on a ground surface 12, the intersection point P3 of the second steering axis 11 and the ground surface 12 lies in front of the intersection point P2 of the first steering axis 10 and the ground surface 12.
    Type: Grant
    Filed: March 20, 2014
    Date of Patent: April 5, 2016
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Hiroshi Gomi, Hiroyuki Makino, Kazushi Akimoto, Naoyuki Saito
  • Publication number: 20150321723
    Abstract: In a mobile vehicle 1 having a vehicle body 2, a front wheel 3f, and a rear wheel 3r, the steering control wheel 3f can be steered by a steering actuator 8 about a steering axis Csf which is tilted backward. The steering actuator 8 is controlled by a control device 15. The height a, from a ground surface 110, of the intersection point Ef of the steering axis Csf of the steering control wheel 3f and a virtual straight line connecting the ground contact point of the steering control wheel 3f and the center of axle of the steering control wheel 3f in a basic posture state of the mobile vehicle 1 is set to satisfy a prescribed condition.
    Type: Application
    Filed: July 21, 2015
    Publication date: November 12, 2015
    Inventors: Toru Takenaka, Hiroshi Gomi, Kazushi Akimoto, Hiroyuki Makino, Yoichi Nishimura, Taihei Setoguchi, Naoyuki Saito, Kenji Muto, Keisuke Koitabashi, Shunichi Nakabayashi
  • Patent number: 9162726
    Abstract: A mobile vehicle 1A includes a front-wheel support mechanism 4 having a trail adjustment mechanism 9, a steering actuator 8 which generates a steering force for steering a front wheel 3f, a trail adjustment actuator 15 which generates a driving force for changing a trail of the front wheel 3f, and a control device 50. The control device 50 has a function of controlling the steering actuator 8 so as to stabilize the posture of a vehicle body 2, and a function of controlling the trail adjustment actuator 15 in accordance with an observed value of the vehicle speed.
    Type: Grant
    Filed: March 6, 2014
    Date of Patent: October 20, 2015
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Kazushi Akimoto, Hiroshi Gomi, Yusuke Yamamoto, Takashi Kudo, Makoto Araki, Yoshiki Takahashi
  • Patent number: 9132880
    Abstract: In a mobile vehicle 1A having a front wheel 3f and a rear wheel 3r, the steered wheel 3f can be steered by an actuator 8. A control device 15 controls the actuator 8 so as to stabilize the inclination angle ?b in the roll direction of the vehicle body 2 and the steering angle ?f of the steered wheel 3f. The control device 15 causes a ratio between the sensitivity of the steering of the steered wheel 3f to the change in observed value of the inclination angle ?b and the sensitivity of the steering of the steered wheel 3f to the change in observed value of the steering angle ?f to be changed in accordance with the traveling speed of the mobile vehicle 1A.
    Type: Grant
    Filed: December 20, 2013
    Date of Patent: September 15, 2015
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Kazushi Akimoto
  • Patent number: 9126649
    Abstract: In a mobile vehicle 1 having a vehicle body 2, a front wheel 3f, and a rear wheel 3r, the steering control wheel 3f can be steered by a steering actuator 8 about a steering axis Csf which is tilted backward. The steering actuator 8 is controlled by a control device 15. The height a, from a ground surface 110, of the intersection point Ef of the steering axis Csf of the steering control wheel 3f and a virtual straight line connecting the ground contact point of the steering control wheel 3f and the center of axle of the steering control wheel 3f in a basic posture state of the mobile vehicle 1 is set to satisfy a prescribed condition.
    Type: Grant
    Filed: October 31, 2013
    Date of Patent: September 8, 2015
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Hiroshi Gomi, Kazushi Akimoto, Hiroyuki Makino, Yoichi Nishimura, Taihei Setoguchi, Naoyuki Saito, Kenji Muto, Keisuke Koitabashi, Shunichi Nakabayashi
  • Patent number: 9114845
    Abstract: In a mobile vehicle 1A having a front wheel 3f and a rear wheel 3r, the steered wheel 3f can be steered by an actuator 8. A control device 15 controls the actuator 8 so as to stabilize the inclination angle ?b in the roll direction of the vehicle body 2 and the steering angle ?f of the steered wheel 3f. The control device 15 causes the sensitivity of the steering of the steered wheel 3f to the change in observed value of the inclination angle ?b to be changed in accordance with the steering angle of the steered wheel 3f.
    Type: Grant
    Filed: December 20, 2013
    Date of Patent: August 25, 2015
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Kazushi Akimoto
  • Publication number: 20140284899
    Abstract: A two-wheeled vehicle 1 includes a steering section 6 which steers a front wheel 4. The steering section includes a steering shaft link 13 which turns about a first steering axis 10 together with a second steering axis 11, a front-wheel support section 14 which turns the front wheel 4 about the second steering axis 11, and a first motor 15 which causes the steering shaft link 13 to turn. A caster angle ? based on the first steering axis 10 is positive or 0. A trail t1 based on the second steering axis 11 is positive. When the two-wheeled vehicle 1 is in a basic posture state on a ground surface 12, the intersection point P3 of the second steering axis 11 and the ground surface 12 lies in front of the intersection point P2 of the first steering axis 10 and the ground surface 12.
    Type: Application
    Filed: March 20, 2014
    Publication date: September 25, 2014
    Applicant: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Hiroshi Gomi, Hiroyuki Makino, Kazushi Akimoto, Naoyuki Saito
  • Publication number: 20140265224
    Abstract: A mobile vehicle 1A includes a front-wheel support mechanism 4 having a trail adjustment mechanism 9, a steering actuator 8 which generates a steering force for steering a front wheel 3f, a trail adjustment actuator 15 which generates a driving force for changing a trail of the front wheel 3f, and a control device 50. The control device 50 has a function of controlling the steering actuator 8 so as to stabilize the posture of a vehicle body 2, and a function of controlling the trail adjustment actuator 15 in accordance with an observed value of the vehicle speed.
    Type: Application
    Filed: March 6, 2014
    Publication date: September 18, 2014
    Applicant: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Kazushi Akimoto, Hiroshi Gomi, Yusuke Yamamoto, Takashi Kudo, Makoto Araki, Yoshiki Takahashi
  • Patent number: 8838338
    Abstract: In a mobile vehicle 1 having a vehicle body 2, a front wheel 3f, and a rear wheel 3r, the steered wheel 3f can be steered by a steering actuator 8 about a steering axis Csf which is tilted backward. A control device 15 controls the steering actuator 8, on the basis of a dynamics model of the mobile vehicle 1A configured by a mass point system having an inverted pendulum mass point 123 and a ground surface mass point 124, so as to stabilize a motional state quantity of the inverted pendulum mass point 123 and a motional state quantity of the steering angle of the steered wheel 3f.
    Type: Grant
    Filed: October 31, 2013
    Date of Patent: September 16, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Toru Takenaka, Kazushi Akimoto