Abstract: A robot joint mechanism includes: a drive power source and a load member driven by an output of the drive power source, and further includes: speeding-up means coupled to the drive power source and the load member such that the output of the drive power source is transmitted to the load member with the output of the drive power source speeded up, wherein the speeding-up means transmits the output of the drive power source with a part of the speeding-up means elastically deformed. The flexible member may be an annular spring. The speeding-up means includes a four-link mechanism, in which a speed of the output link is higher than that of the input link. The input link may be flexible.

Abstract: A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (a variable capacity element) is provided at a ground-contacting face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber and has a restoring force. An interior portion of the bag-like member 19 is communicated with the atmosphere side through a flow passage 20. During a landing motion of the leg, the bag-like member 19 makes contact with the ground to be compressed, and the air in the interior portion thereof flows out into the atmosphere through the flow passage 20, so that its outflow resistance is generated. Accordingly, a landing shock is reduced. In a lifting state of the leg, the restoring force of the bag-like member 19 allows the bag-like member 19 to be inflated while the air flows into the interior portion thereof.

Abstract: An optical disk storing write-once information usable for protecting the copyright of the software by preventing the duplication, unauthorized use, etc., of the software. In the optical disk, a recording layer (213) is formed on a disk substrate (211) with a dielectric layer (212) inbetween. Then, an intermediate dielectric layer (214) and a reflecting layer (215) are successively laminated upon the recording layer (213), and an overcoat layer (216) is formed on the surface of the reflecting layer (215). A plurality of BCA (one of write-once identification information systems) sections (220a and 220b) are recorded by lowering the vertical magnetic anisotropy of the recording layer (213). At the time of reproduction, the write-once information is detected from differential signals.

Abstract: A content recording method using a communication means, including reading from a recording medium identification information unique to that recording medium, receiving through the communication means permission information for permitting recording of content on that recording medium, receiving content information through the communication means, and after confirming validity of the permission information, encrypting the received content information using both the unique identification information and a cipher key, and recording the encrypted content information on the recording medium.

Abstract: To provide a harmonic drive gearing with high degree of freedom in terms of layout. A harmonic drive gearing 10 includes a circular spline 1?, having outer teeth formed on an outer peripheral surface; an flexible spline 2, positioned at the outside of the circular spline 1?, and having inner teeth, which are engageable with the outer teeth of the circular spline 1?, formed on an inner peripheral surface; and a rotor 16 which is disposed at outside of the flexible spline 2 and serves as a wave generator, wherein the rotor 16 deflects the flexible spline 2 by minor axis portions of the inner peripheral surface of the flexible spline 2 and engages the inner teeth of the flex spline with the outer teeth of the circular spline 1? and thereby the engagement position between the inner teeth and the outer teeth is adapted to move in a circumferential direction.

Abstract: An assist device is provided with a spring device that generates an auxiliary driving force, by an elastic energy, acting on a joint of a leg. The spring device includes a gas spring having a cylinder and a piston. Bending/stretching motion between link members and at the joint is transmitted to the spring device through a motion transmission device that includes a link arm. The spring device is provided so that the auxiliary driving force increases as a knee bending angle ? increases until the knee bending angle ? reaches a predetermined angle, and so that, once the knee bending angle ? exceeds the predetermined angle, the auxiliary driving force becomes smaller than or equal to the driving force obtaining at the predetermined angle, effectively reducing a burden on an actuator of the legged mobile robot joint.

Abstract: In a legged mobile robot, each hip joint that connects a body with a thigh link comprises a first rotary shaft that provides a degree of freedom to rotate about a yaw axis, a second rotary shaft that provides a degree of freedom to rotate about a roll axis, and a third rotary shaft that provides a degree of freedom to rotate about a pitch axis, and in addition thereto, a fourth rotary shaft that provides a redundant degree of freedom. Owing to this configuration, the amount of body bending and the movable range of the legs can be increased, thereby improving the degree of posture and gait freedom.

Abstract: The operating and other procedures of a disk or recording medium application system of the type for which a network is used are simplified. Disks or recording media have auxiliary data recording areas, where different IDs for individual disk, and/or cipher keys and/or decoding keys for ciphers are recorded in advance in a factory. By using the IDs to release the soft ciphers, and using the cipher keys when sending the ciphers, and using the decoding keys when receiving the ciphers, user authorization procedures are simplified.

Abstract: When recording and reproduction are performed at the same time, if a system controller detects that an amount of data accumulated in a buffer memory exceeds a predetermined value, the system controller stops data reading from an optical disk temporarily and records data accumulated in the buffer memory continuously to the optical disk. Then, an image is prevented from becoming abnormal when a reproduction position catches up to a recording position. Further, a system controller monitors a zone in an optical disk, to which recording is performed and controls a motor at an appropriate revolution number for the recording to the zone. Further, reproduction is performed by maintaining the revolution number. Then, even if the recording position and the reproduction position belong to different zones in a recording medium, a transition time from recording to reproduction is prevented from becoming long.

Abstract: A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow/outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state.

Abstract: An assist device that applies an auxiliary driving force to a joint in parallel with a driving force of a joint actuator between a thigh portion and a crus portion, which are a pair of link members of a leg. The assist device generates the auxiliary driving force by use of spring device, such as a solid spring or an air spring. A member supporting a rod member connected to the spring device is provided with a device for transmitting a bending and stretching motion of the leg at the joint (a relative displacement motion between the thigh portion and the crus portion) to the spring device to generate an elastic force of the spring device, and for discontinuing the transmission of the bending and stretching motion to the spring device. This transmitting device is controlled in accordance with a gait of a robot. Thus, a burden on the joint actuator is reduced where necessary and favorable utilization efficiency of energy can be stably ensured.

Abstract: An optical disk storing write-once information usable for protecting the copyright of the software by preventing the duplication, unauthorized use, etc., of the software. In the optical disk, a recording layer (213) is formed on a disk substrate (211) with a dielectric layer (212) inbetween. Then, an intermediate dielectric layer (214) and a reflecting layer (215) are successively laminated upon the recording layer (213), and an overcoat layer (216) is formed on the surface of the reflecting layer (215). A plurality of BCA (one of write-once identification information systems) sections (220a and 220b) are recorded by lowering the vertical magnetic anisotropy of the recording layer (213). At the time of reproduction, the write-once information is detected from differential signals.

Abstract: A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (variable capacity element) is provided at a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. The air in atmosphere may flow into and out of the bag-like member 19 by inflow/outflow means 20 equipped with a solenoid valve 27, and the like. In a lifting state of the foot mechanism 6, inflow of the air into the bag-like member 19 is controlled, thereby controlling the final height of the bag-like member 19 in an inflated state to the height in response to a gait type of the robot. While properly reducing an impact load during a landing motion of the leg of a legged mobile robot depending on the gait type of the robot, stability of a posture of the robot may easily be secured, resulting in allowing a configuration to be lighter in weight.

Abstract: An optical disk having a first recording area for recording information; and a second recording area having auxiliary information including disk identification information unique to that optical disk recorded therein, wherein the second recording area including circumferentially arranged multiple stripe patterns each strip extending along a radius of the disk; and indicator indicating the presence of auxiliary information.

Abstract: A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow/outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state.

Abstract: A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (a variable capacity element) is provided at a ground-contacting face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber and has a restoring force. An interior portion of the bag-like member 19 is communicated with the atmosphere side through a flow passage 20. During a landing motion of the leg, the bag-like member 19 makes contact with the ground to be compressed, and the air in the interior portion thereof flows out into the atmosphere through the flow passage 20, so that its outflow resistance is generated. Accordingly, a landing shock is reduced. In a lifting state of the leg, the restoring force of the bag-like member 19 allows the bag-like member 19 to be inflated while the air flows into the interior portion thereof.

Abstract: An assist device is provided with a spring device that generates an auxiliary driving force, by an elastic energy, acting on a joint of a leg The spring device includes a gas spring having a cylinder and a piston. Bending/stretching motion between link members and at the joint is transmitted to the spring device through a motion transmission device that includes a link arm. The spring device is provided so that the auxiliary driving force increases as a knee bending angle &thgr; increases until the knee bending angle &thgr; reaches a predetermined angle, and so that, once the knee bending angle &thgr; exceeds the predetermined angle, the auxiliary driving force becomes smaller than or equal to the driving force obtaining at the predetermined angle. Thus, a burden on an actuator of the joint of a legged mobile robot is effectively reduced, thereby ensuring favorable utilization efficiency of energy and miniaturization of the spring device.

Abstract: An assist device that applies an auxiliary driving force to a joint in parallel with a driving force of a joint actuator between a thigh portion and a crus portion, which are a pair of link members of a leg. The assist device generates the auxiliary driving force by use of spring device, such as a solid spring or an air spring. A member supporting a rod member connected to the spring device is provided with a device for transmitting a bending and stretching motion of the leg at the joint (a relative displacement motion between the thigh portion and the crus portion) to the spring device to generate an elastic force of the spring device, and for discontinuing the transmission of the bending and stretching motion to the spring device. This transmitting device is controlled in accordance with a gait of a robot. Thus, a burden on the joint actuator is reduced where necessary and favorable utilization efficiency of energy can be stably ensured.

Abstract: The operating and other procedures of an optical disk application system of the type for which a network is used are simplified. Optical disks have auxiliary data recording areas, where different IDs for individual disks, and/or cipher keys and/or decoding keys for ciphers are recorded in advance in a factory. By using the IDs to release the soft ciphers, using the cipher keys when sending the ciphers, and using the decoding keys when receiving the ciphers, user authorization procedures are simplified.

Abstract: The operating and other procedures of an optical disk application system of the type for which a network is used are simplified. Optical disks have auxiliary data recording areas, where different IDs for individual disks, and/or cipher keys and/or decoding keys for ciphers are recorded in advance in a factory. By using the IDs to release the soft ciphers, using the cipher keys when sending the ciphers, and using the decoding keys when receiving the ciphers, user authorization procedures are simplified.