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F-Term-List

3C007 Manipulators/robots
B25J1/00 -21/02
B25J1/00-21/02 AS AS00
APPLICATIONS 		AS01 AS02 AS03 AS04 AS05 AS06 AS07 AS08 AS09
. Carrying, moving and loading, article supply, taking out . . Palletizing, depalletizing . . Storage and taking out for stores . . Taking out from a number of works . . Delivery to machine tools/processing devices . Assembly . . Fitting . . Electrical or electronic component parts . Microcyte operations (e.g. cell treatment)
AS11 AS12 AS13 AS14 AS15
. Welding, fusion cutting . Machining (e.g. grinding, cutting) . Painting, sealing . Inspection, checking, measuring . Cleaning
AS21 AS22 AS23 AS24 AS25 AS26 AS27 AS28 AS29 AS30
. For civil engineering, construction . Agriculture forestry and fishery industries (e.g. fruit harvesting) . For automobile manufacture . For semiconductors of disc manufacture . For clean rooms . For high place constructions (e.g. for electric wire constructions) . For nuclear reactors, steam generators . For underwater purposes . For spaces, aviations . For high temperature or low temperature environments
AS31 AS32 AS33 AS34 AS35 AS36
. For high pressure or vacuum environments . For disasters (e.g. fire extinguishing, fire prevention, disaster relief) . For special gas atmospheres . For service purposes . For medical purposes . For entertainment purposes
BS BS00
KINDS, TYPES OF MANIPULATORS 		BS01 BS02 BS03 BS04 BS05 BS06 BS07 BS09 BS10
. Serial arrangements of arms . . Cartesian co-ordinates with two articulated joints . . Cartesian co-ordinates with three articulated joints . . . Frame types . . . Gantry types . . Cylindrical co-ordinates . . Polar co-ordinates . . Articulated types . . . Vertical articulated types
BS11 BS12 BS13 BS14 BS15 BS17 BS18 BS19 BS20
. . . . Of five degrees of freedom . . . . Of six degrees of freedom . . . . Of seven degrees of freedom . . . . Of eight or more degrees of freedom . . . Horizontal articulated types . Snake types . . Joints interlocking . . Each joint moving independently . . Bending with multiple degrees of freedom
BS21 BS22 BS23 BS24 BS26 BS27 BS28 BS29 BS30
. Parallel arrangements of arms . . Parallel link types . . . Frog leg types . . Parallel link types . Multiple arm manipulators . . Humanoid manipulators . Master-slave types . Manual manipulators (Imparted also to XF) . Micro manipulators (Imparted also to XG)
BT BT00
TYPES OF WRISTS 		BT01 BT02 BT03 BT04 BT05 BT06 BT07 BT08 BT09 BT10
. Wrist axes . . Two axes wrists . . . Two axes both being rotatable . . . Two axes both being turning . . . Having turning and rotating axes . . Three axes wrists . . . Three axes all being rotatable . . . Two axes being rotatable, one axis being turning . . . One axis being rotatable and two axes being turning . . Having mechanisms for preventing accompanying rotation
BT11 BT12 BT13 BT14 BT15 BT16 BT18 BT19 BT20
. . Constantly maintaining hand directions . Moving hand parts . . Moving the parts at right angles to hand directions . . Advancing and retreating hands . Rotating with multiple degrees of freedom . . By link mechanisms . Floating mechanisms . . Having locking mechanisms . . Automatically returning to predetermined positions
CS CS00
BASES 		CS01 CS02 CS03 CS04 CS05 CS06 CS07 CS08 CS09 CS10
. Traveling along tracks . . Curved tracks . . Closed passages . . Floor tracks . . Elevated tracks . . . Arranging manipulators on lateral sides . . Having branch means . Moving on trackless (Imparted also to WA, WB) . Having driving mechanisms built-in (Excluding traveling driving mechanisms) . Fixing means (lock mechanisms, outriggers or the like)
CT CT00
COLUMNS 		CT01 CT02 CT03 CT04 CT05 CT07
. Characterized by operating forms of columns . . Linearly moving within horizontal planes . . . Movable in X, Y axial directions . . Expanding and contracting in vertical directions . . Rotating around vertical axes . Characterized by structures of columns.
CU CU00
ARMS 		CU01 CU02 CU03 CU04 CU05 CU06 CU07 CU08 CU09
. Characterized by materials for forming arms . Arms expanding and contracting . . Telescope types . Arms being of parallel link type with serial arrangements . Having drive sources in arms . Having optical paths, fluid paths in arms . Arms being pliable, flexible . Of light weight and high rigidity . Arms being exchangeable
CV CV00
OPERATING FORMS OF FIRST ARMS 		CV01 CV02 CV03 CV04 CV05 CV06 CV07 CV08 CV09 CV10
. First arms performing linear movements . . Expanding and contracting . . Advancing and retreating . . Horizontal parallel progressing . . Vertical parallel progressing . First arms rotating . . Rotating only within horizontal planes . . Rotating only within vertical planes . . Rotating with multiple degrees of freedom . . Rotating around axial centers of arms
CW CW00
OPERATING FORMS OF SECOND ARMS 		CW01 CW02 CW03 CW04 CW05 CW06 CW07 CW08 CW09 CW10
. Second arms performing linear movements . . Expanding and contracting . . Advancing and retreating . . Horizontal parallel progressing . . Vertical parallel progressing . Second arms rotating . . Rotating only within horizontal planes . . Rotating only within vertical planes . . Rotating with multiple degrees of freedom . . Rotating around axial centers of arms
CW11
. . Having second joint axes crossing with first joint axes
CX CX00
JOINTS 		CX01 CX03 CX05 CX07 CX09
. Having drive sources in joint parts . Incorporating reducers in joint parts . Providing locking mechanisms in joint parts . Providing clutches in joints . Having stoppers in joints
CY CY00
PURPOSES OF BODY MECHANISMS 		CY01 CY02 CY03 CY04 CY05 CY06 CY07 CY08 CY09 CY10
. Energy supply . . Power distribution (Including electric signals) . . Fluid supply . . Characterized by wiring of joint parts . . . Penetrating cables into rotation axes . . . Having rotary connection means . . Arranging cables along external body surfaces . . Separating and supporting cables from bodies . . Having parts of cables being helically wound . . Having parts of cables being folded in U shapes
CY11 CY12 CY13 CY15 CY16 CY17
. Having positioning mechanisms . . ON-OFF switches . . Butting and stopping . Devising for linear movement mechanism rails, sliders or the like . . Preventing backlashes, deviations of traveling bodies . . . Prevention for deformation of traveling bodies, rails, and the countermeasures
CY21 CY22 CY23 CY24 CY26 CY27 CY28 CY29 CY30
. Load balance mechanisms . . Providing balance weights . . By springs . . By fluid pressures . Explosion-proof . Dustproof . . Pressurizing inside of bodies . . Proving covers . Soundproofing, sound suppressing
CY31 CY32 CY33 CY34 CY35 CY36 CY37 CY39 CY40
. Vibration prevention . Buffering . Insulation, electric leakage prevention . Heat radiation and cooling . Lubrication . Downsizing (Clear descriptions in specifications) . Improvement of maintenance (Clear descriptions in specifications) . Expansion of actuating ranges of arms (Clear descriptions in specifications) . Improvement of promptness, improvement of speedup (Explicit descriptions in specifications)
DS DS00
OVERALL STRUCTURES OF GRIPPING DEVICES 		DS01 DS02 DS03 DS05 DS06 DS07 DS08 DS10
. Single holding devices or adsorption devices . . Having plural gripping parts . . . Having holding parts and adsorption parts . Plural holding devices or adsorption devices . . Linear arrangement types . . Plane matrix arrangements . . Turret types . Arrangements of gripping devices or gripping parts being variable
ES ES00
FORMS OF SINGLE HOLDING DEVICE 		ES01 ES02 ES03 ES04 ES05 ES06 ES07 ES08 ES09 ES10
. Having finger members . . One . . Two . . Three . . Four . . Five or more . . Multi-articulated type . . . Having independent drive sources according to each joint . . . Each joint interlocking . . Finger members being wholly flexible
ES11 ES12 ES13 ES15 ES17 ES19
. Overhanging forms . . Inside overhanging types . . Outside overhanging types . Collet chucks . Placing . Piercing and holding
ET ET00
OPERATION FORMS OF FINGER MEMBERS 		ET01 ET02 ET03 ET04 ET05 ET08 ET09 ET10
. Oscillating types . . Spindles being one . . Spindles being two . . Crossing types . . Parallel movement types (By parallel link mechanisms) . Linear sliding types . . Slide clamps . Outward expansion types
EU EU00
OPENING AND CLOSING MECHANISMS OF FINGER MEMBERS 		EU01 EU02 EU03 EU04 EU05 EU06 EU07 EU08 EU09
. Screw types . Gear types . . Bevel gear types . . Rack and pinion types . . Intervening worm gears . . Having differential mechanisms (planetary gears or the like) . Link types . Cam types . . Positive motion types
EU11 EU12 EU13 EU14 EU16 EU17 EU18 EU19 EU20
. Flexible transmitting members . Spring energizing . . Opening direction energizing . . Closing direction energizing . Connections to finger members on both piston and cylinder sides . Direct connections to drive sources . Having dedicated drive source for each finger member . . Each finger member moving synchronously . Each finger member moving asynchronously with the same drive sources
EV EV00
CONTACT PARTS OF HOLDING DEVICES 		EV01 EV02 EV03 EV04 EV05 EV06 EV07 EV08 EV09 EV10
. Shapes of contact parts not deformed . . Flat surface contacts . . V shapes . . Curved surface contacts . . Lower surface contacts . . Tongues . . Engagement (notches and protrusions engagement, flange end engagement, or the like) . . Having rollers . . Screws . . Treatment for increasing frictional forces
EV11 EV12 EV13 EV14 EV15 EV16 EV17 EV18 EV19 EV20
. Deforming contact parts . . Use of fluid pressures . . Utilization of springs . . Elastic membranes (with open spaces, closed spaces, filled spaces) . . Utilization of brushes . . Plural projections . Angles of contact parts being variable . . Oscillating . . Tilting . Floating lock of contact parts
EV21 EV22 EV23 EV24 EV25 EV26 EV27 EV28 EV30
. Having additional functions . . Having different types of contact parts . . Separately having auxiliary contact members . . Plural contact parts for one pair of holding parts . . Energized by the weight of articles in holding directions . . Movable in longitudinal axis directions of finger members . . Rotating with holding articles . . Performing linear movement of articles and contact surfaces relatively . Contact less types (e.g. floating and holding )
EW EW00
PURPOSES OF HOLDING DEVICES 		EW01 EW03 EW04 EW07 EW08 EW09
. Holding articles with different diameters . Holding when positions of articles are deviated from opening and closing centers . . Following holding parts into articles . Having opening and closing lock means . . Utilization of change points (toggle mechanisms or the like) . . Using ratchets
EW11 EW12 EW14 EW16 EW18 EW20
. Adjustments of opening and closing amounts . Adjustments of opening and closing speeds . Compactibility (Clear descriptions in specifications) . Dustproof measures or countermeasures against dust generation . Heat protection or heat resistance (Including cooling) . Countermeasures against vibrations or shocks
FS FS00
FORMS OF SINGLE ADSORPTION DEVICES 		FS01 FS02 FS03 FS04 FS06 FS07 FS08 FS09 FS10
. Vacuum adsorption . . Having no vacuum sources . . Ejectors . . Bernoulli chucks . Magnetic force adsorption . . Electromagnets . . Permanent magnets . . Residual magnetism removal . Electrostatic adsorption
FT FT00
STRUCTURES OF ADSORPTION PARTS 		FT01 FT02 FT03 FT04 FT06 FT07 FT08 FT10
. Contact parts . . Adsorption cups . . . Characterized by materials . . . Characterized by structures . . Installing elastic members on contact parts (Excluding adsorption cups) . . . Characterized by materials . . . Characterized by structures . . Contact parts being inelastic members, and characterized by materials, structures
FT11 FT12 FT13 FT15 FT16 FT17 FT18
. . Plural adsorption spots being provided . . . Concentric . . . Matrix arrangements . Floating . . By flexible members . . Springs . . Joints with multiple degrees of freedom
FU FU00
PURPOSES OF ADSORPTION DEVICES 		FU01 FU02 FU03 FU04 FU05 FU06 FU08 FU09 FU10
. Adsorption of single article or predetermined amount of articles . Separately having pressing members for articles . Vacuum pressure controls . . Having vacuum pressure measuring units . . Characterized by structures or mechanisms of valves . . . With opening and closing valves within adsorption nozzles . Dustproof measures (filter equipment or the like) . Heat protection or heat resistance . Countermeasures against vibrations or shocks
GS GS00
GRIPPING DEVICE EXCHANGES 		GS01 GS02 GS03 GS04 GS05 GS06
. Connection means . . Ball types . . Gripping pawl types . . Plug-in types (screws, pins, piles or the like) . . Twist types, screw connection types . . Magnetic types
GS11 GS12 GS13 GS15 GS16 GS17 GS19
. Joints for power supply, fluid supply . Separately having positioning pins . Having exchange completion detecting means . Hand storage . . Having moving means (conveyers or the like) . . Having gripping device extraction or connection facilities . Controls for hand exchanges
GU GU00
ARTICLE EXTRACTING MEANS 		GU01 GU03 GU04 GU06
. Spring energizing . Air supply . . Utilization of accumulators . Fluid cylinders
HS HS00
DRIVE SOURCES 		HS01 HS02 HS03 HS04 HS06 HS07 HS08 HS09 HS10
. Direct drive types . . Contraction types . Oscillating types . Rotary types . Mechano-thermal actuator (Shape memory alloys) . Mechano-chemical actuators . Man powers . Cells . Electrostatic types
HS11 HS12 HS13 HS14 HS15 HS16 HS17 HS18 HS19 HS20
. Fluid types . . Cylinders . . . Liquids . . . Gases . . Oscillating motors . . . Liquids . . . Gases . . Rotary motors . . . Liquids . . . Gases
HS21 HS23 HS24 HS25 HS26 HS27 HS28 HS29 HS30
. . Artificial muscles . Electric types . . Solenoids . . . Rotary solenoids . . . Linear motors . . Electric motors . . . DD motors . . Piezoelectric elements . . . Ultrasonic motors
HT HT00
TRANSMISSION DEVICES (EXCLUDING HOLDING DEVICES) 		HT01 HT02 HT03 HT04 HT06 HT07 HT08 HT09
. Flexible members . . Belts . . Chains . . Ropes, wires . . Performing plural operations simultaneously or with interlocking . . Adjusting tensions . . Connecting with rods . . Having ends
HT11 HT12 HT13 HT15 HT16 HT17 HT19 HT20
. Links . . Parallel links . . Eliminating dead points (Change points) . Rotary shafts . . Multiple coaxial shafts . . Spline shafts . Screw movements . . Ball screws
HT21 HT22 HT23 HT24 HT25 HT26 HT27 HT28 HT29 HT30
. Screws . . Rack pinions . . Worm gears . . Bevel gear types . . Planetary gears . . . Harmonic reducers . . . Cycloid reducers . . . RV reducers . . . Ball reducers . . Differential mechanisms
HT31 HT33 HT34 HT35 HT36 HT37 HT38 HT39 HT40
. . Backlash prevention . Cam mechanisms . Magnetically-coupled mechanisms . Elastically-linked mechanisms . . Springs . Friction transmission mechanisms . Fluid transmission mechanisms . Having clutches . Having brakes
JS JS00
SPECIFIC CONFIGURATIONS OF CONTROL DEVICES 		JS01 JS02 JS03 JS05 JS06 JS07
. Overall configurations of systems including control panels or the like . . Relating to peripheral devices such as other robots . . . Network correspondences . Arrangements, connections in control circuits . Characterized by arrangement relationships with mechanism parts . Communication, data transmission methods and processing
JT JT00
CONTROL BARS 		JT01 JT02 JT03 JT04 JT05 JT06 JT07 JT08 JT09 JT10
. Connected to slave parts in terms of mechanisms . . By wires . . Containing parallelogram structures . Electrically connected to slave parts . . Having reaction force sensing functions . . Correspondence relationships between main parts and slave parts being changeable . . Having additional setting functions . . Mounting on manipulators per se . . Providing manipulators per se as control bars . . Realizing directly human motions
JU JU00
TEACHING DEVICES, CONTROL PANELS 		JU01 JU02 JU03 JU07 JU08 JU09
. Configurations of control panels . . Characterized by human interface parts . . . Characterized by display devices (KT for other displays) . Teaching auxiliary tools . . Mounting on hands . . Providing on work benches or work areas
JU11 JU12 JU13 JU14 JU15 JU16 JU17
. Types of control panels . . Remote operations from directly invisible places . . Operable form plural places . . Portable type control panels . . Fixed control panels . . Control devices provided for manipulators per se . . Simultaneously using teaching devices and control devices
KS KS00
OBJECTS FOR DETECTION 		KS01 KS02 KS03 KS04 KS05 KS06 KS07 KS08 KS09 KS10
. Conditions of work objects . . Speeds, acceleration . . Positions . . Attitudes, angles, directions . . Deviations from predetermined conditions . . Characterized by measuring of specific parts (center of gravity or the like) . . Shapes . . Types . . Sizes, weights . Work environments (e.g. atmospheric temperatures)
KS11 KS12 KS13 KS15 KS16 KS17 KS18 KS19 KS20
. . Positions, conditions of operators . . Positions, conditions of obstacles . . Positions, conditions of other robots, machines . Conditions of manipulators . . Positions . . . Top end positions . . . Base positions . . . Original positions . . Attitudes, angles, directions
KS21 KS22 KS23 KS24 KS25 KS26 KS27 KS28 KS29 KS30
. . . Joint angles . . Speeds . . . Acceleration . . . Angular speeds, angular acceleration . . . Speeds of top ends . . . Speeds of bases . . Internal conditions (abrasion, battery amount or the like) . . . Loads, weights of loads (motor loads or the like) . . . Conditions and types of end effectors . . . . Gripping conditions (gripping confirmation or the like)
KS31 KS32 KS33 KS34 KS35 KS36 KS37 KS38 KS39 KS40
. Contacts . Slipping . Forces . . Pressing forces, reaction forces . . Torques . Distances, approaches . Voltages, currents . Time . Voices . External disturbances
KT KT00
VISUAL DEVICES, IMAGING DEVICES 		KT01 KT02 KT03 KT04 KT05 KT06 KT07 KT09
. Having one camera . Having plural cameras . . Performing stereopsis, using parallax . Arrangements or mounting of cameras . . Providing with arms or hands . . Providing with other than manipulators . Using optical fibers . Co-ordinate matching (Calibration)
KT11 KT12 KT15 KT16 KT17 KT18
. Image recognizing methods, image recognizing means . . Light-section methods . Image display . . Time series display . . Display of manipulators as a main . . Display of works
KV KV00
SENSOR SYSTEMS 		KV01 KV04 KV05 KV06 KV08 KV09 KV10
. Pulse encoders (e.g. rotary types, linear types) . Electric (e.g. electrostatic capacity) (KV01 takes precedence) . . Switches (e.g. limit switches) . . Strain gauges, pressure sensitive resistors . Magnetic types, electromagnetic types (e.g. eddy currents) (KV01 takes precedence) . Radio wave types (e.g. GPS) . Rotation transformer systems
KV11 KV12 KV13 KV15 KV16 KV18 KV20
. Photoelectric types (KV01 takes precedence) . . By light interception between projectors and photo detectors . . Using optical fibers . Fluid types (e.g. detection of pressures in sealed bags) . . Air micrometer types . Acoustic types (e.g. ultrasonic wave types) . Mechanical types (e.g. dial gauges)
KW KW00
CHARACTERIZED BY SENSORS 		KW01 KW02 KW03 KW04 KW05 KW06 KW07
. Contact sensors . Slip sensors . Force sensors . . Gripping force sensors . . Torque sensors . Position sensors . Rotation angle sensors
KX KX00
ARRANGEMENTS OF SENSORS 		KX01 KX02 KX03 KX05 KX06 KX07 KX08 KX09 KX10
. Providing for tracks . Providing for bases . Providing for columns . Providing for arms . . Providing for wrists . . Providing for hands . . . Providing for fingers, adsorption pads . . Arranging so as to enclose arms or hands . . Providing for joints (wrists, arms)
KX11 KX12 KX13 KX15 KX17 KX19
. Providing for legs . . Providing for foot (ahead of ankles) . . Providing for joints . Providing for gearings . Arranging in control bars (Excluding sensors relating to controls) . Arranging for other than manipulators
LS LS00
TEACHING (PROGRAM PREPARATION) 		LS01 LS02 LS03 LS04 LS05 LS06 LS08 LS09 LS10
. Direct teaching (On-line teaching) . . Teaching by human hands . . . Light movements of manipulators at the time of teaching . . Teaching by moving with control panels . . Teaching by using image pick-up devices . . Special teaching method (e.g. light, sounds, or the like) . Indirect teaching (Off-line teaching) . . Teaching using images (CAD or the like) . . Teaching each point
LS11 LS13 LS14 LS15 LS16 LS17 LS19 LS20
. . Teaching other than positions . Teaching by using simulated manipulators . Program corrections (e.g. positioning point corrections) . Automatic preparation of paths or target positions . . By co-ordinate conversion of basic paths . . . Preparation of symmetric paths . Verification run . Simulations
LT LT00
POSITION CONTROLS 		LT01 LT02 LT03 LT04 LT06 LT07 LT08
. Interpolation, path controls . . By pulse distributions . . Interpolation by special patterns . . . Waving interpolation . Position controls by external measuring sensors . Following controls . Follow-up controls
LT11 LT12 LT13 LT14 LT15 LT17 LT18
. Corrections of positions . . To position deviations of work objects . . Compensating inertias, weights, temperatures or the like . . By internal states (e.g. manufacturing errors) . . Corrections by manual setting . Origin positioning, co-ordinate calibration . Positioning to work start points (Including restart points)
LU LU00
SPEED, FORCE, HYBRID CONTROLS 		LU01 LU02 LU03 LU04 LU05 LU06 LU07 LU08 LU09 LU10
. Speed controls . . Acceleration controls . . Controls of acceleration, deceleration . . Using speed patterns . . Corrections of speeds . Force controls (Gripping forces are imparted to LV10) . . Controls of torques . . Controls of pressing forces . Plural control parameters being provided, hybrid controls . . Switching control parameters
LV LV00
OTHER VARIOUS TYPES OF CONTROLS 		LV01 LV02 LV03 LV04 LV05 LV06 LV07 LV08 LV09 LV10
. Cooperative controls . . Cooperation of manipulators with each other . Controls of end effectors . . Position controls . . Attitude controls . . Controls of gripping . . . Determination of gripping positions . . . Performing judgment for stability of gripping . . . Performing gripping by multiple stages . . . Control of gripping force
LV11 LV12 LV13 LV14 LV15 LV17 LV18 LV19 LV20
. Progress of programs . . Conditions for start or progress of operations . . Interruption, restart of programs . . Determination of work plans . . Switching of running conditions . Controls of fitting . Compensation of gravity, temperatures (Position corrections LT13) . Co-ordinate conversion systems, co-ordinate operation systems . Advance preparations (e.g. initialization)
LV21 LV22 LV23 LV24
. Controls peculiar to electric motors . Controls peculiar to fluid drives . Servo controls . . Performing gain adjustments
LW LW00
SPECIFIC CONTROL METHODS 		LW01 LW02 LW03 LW04 LW05 LW07 LW08 LW09
. Using feed forward . Using compensation elements . Using past data . Using observers . . External disturbance observers . PID controls . Optimization controls . Pulse controls
LW11 LW12 LW13 LW14 LW15
. Artificial intelligences . Learning controls . Genetic algorithms . Fuzzy . Neural networks
MS MS00
SAFETY 		MS01 MS02 MS03 MS05 MS06 MS07 MS08 MS09 MS10
. Against overloads . . Mechanical treatments . . Electrical treatments . Against interferences . . Detection of foreign substance entering into dangerous areas (Actuating areas) . . Performing contact detection or approach detection . . Prediction of interferences . . . Modeling of operation ranges or the like. . . Limitation of operation ranges
MS11 MS12 MS14 MS15 MS16
. Coping in terms of mechanisms, structures (Excluding MS02) . . Fixing means, brakes . Treatments after generation of abnormality, danger (Excluding MS12) . Inspection, monitoring, maintenance . Responses to erroneous operations
MS21 MS22 MS23 MS24 MS25 MS27 MS28 MS29 MS30
. Against manipulator abnormality . . Operating limit detection, operating range restriction . . Detection for sudden changes of command values or detection for divergences with actual values . . Abnormality of actuating sources . . . At the time of power failures . Safety for persons . . Alarms . Safety in teaching, operations . Safety for work objects
MT MT00
PURPOSES FOR CONTROLS (OTHER THAN SAFETY) (CLEAR DESCRIPTIONS IN SPECIFICATION) 		MT01 MT02 MT03 MT04 MT05 MT06 MT07 MT08 MT09 MT10
. Facilitating operations . Speed increases of controls, operations . Simplification of structures . Improvement of accuracy, correctness . Vibration prevention, stability . Automatization, systematization . Expansion of operation, working ranges . Responses to plural patterns, changes . . Responses to work conditions . . . Responses to plural types of works
MT11 MT12 MT13 MT14 MT15 MT16
. Applications to specific uses . Environmental measures (Ecology) . Energy saving . Improvement of entertainment . Responses to open systems, net systems . Improvement of durability
NS NS00
WORK CONDITIONS 		NS01 NS02 NS03 NS05 NS06 NS07 NS08 NS09 NS10
. Work objects being movable . . By conveyers . . By rotation or oscillating stands . Shapes (FW) . . Rectangular columns . . Cylindrical bodies . . Spherical bodies . . Plate-like bodies, discs . . Sheet shapes (films, paper, or the like)
NS11 NS12 NS13 NS14 NS15 NS17 NS19
. Types (FW) . . Substrates . . . Semiconductor wafers . . . Magnetic discs, optical discs . . . Printed circuit boards and wiring boards . . Electronic component parts . . Containers, cardboard boxes
NS21 NS22 NS24 NS26 NS28 NS29
. . Glass (Substrates NS12) . . Lenses . . Fastening component parts . . Foods . . Packaged goods . . Fabrics
WA WA00
AUTOMATIC OR AUTONOMOUS TYPES 		WA01 WA02 WA03 WA04 WA05
. Forms of biological type robots . . Animal types . . . Humanoids . . . Dog, cat types . . . Bug types
WA11 WA12 WA13 WA14 WA15 WA16 WA17 WA18 WA19 WA20
. Moving types . . Leg types . . . Biped . . . Quadruped . . . Hexapod . . Wheel types . . Crawlers . . Moving by using bodies (e.g. spanworm types) . . Having adsorbing members . . Tracks
WA21 WA22 WA23 WA24 WA25 WA26 WA27 WA28
. Movements of special environments . . Steps, slopes . . Ascending and descending on wall surfaces . . Movements on irregular grounds . . Insides, outsides of duct lines . . Space movements . . Underwater movements . . Movements within buildings (buildings, houses)
WB WB00
CONTROLS OF AUTOMATIC OR AUTONOMOUS TYPES 		WB01 WB02 WB03 WB04 WB05 WB06 WB07 WB08 WB09
. Walk controls . . Static walks . . Characterized by switching walk conditions (e.g. changes in directions) . . Walk patterns being determined in advance . . Characterized by generation of walk figures, walk patterns . . Upper body inclination, attitude controls . . Considering ZMP . . Controls by paying attention to joint angles, joint torques . . Controls by paying attention to specific positions (center of gravity or the like)
WB11 WB13 WB14 WB15 WB16 WB17 WB18 WB19 WB20
. Behavior controls (Including emotions) . . Using probabilities . . Using histories . . Using internal information . . Using external information . . . Conditions of persons (expressions, behaviors, or the like) . . . Instruction from persons . . . . Voice inputs . . . Conditions, instructions of other robots
WB21 WB22 WB23 WB24 WB25 WB26 WB27 WB28
. . . Using information on obstacles, work objects . . Using models (Patterns) . . . Characterized by ways of transition . . Characterized by emotion controls . . Controls of behaviors based on emotions . . Characterized by ways of behaviors per se . . . Characterized by specific emotional expression methods . . . . Generation of expressions
WC WC00
OTHER CHARACTERISTICS, CONFIGURATIONS OF AUTOMATIC OR AUTONOMOUS TYPES 		WC01 WC03 WC04 WC06 WC07 WC09 WC10
. Growing up . Connecting to external devices such as personal computers . Having simulation functions . Characterized by message transmitting means to persons . . Talking . Characterized by returning from abnormal states . . Returning from overturn states
WC11 WC12 WC13 WC14 WC15 WC16 WC18 WC19 WC20
. Characterized by using methods . . Games . . Healing . . Academic applications . . With additional functions (e.g. telephones, FAX) . . Monitoring, security . Characterized by structures of accessories . . Accessories (e.g. suits) . . Tables, stations
WC21 WC22 WC23 WC24 WC25 WC26 WC27 WC29 WC30
. Characteristics for structures of robot bodies . . Legs . . . Ankles, soles . . . Leg joints . . Heads, faces, necks . . Bodies . . Waists . . Configurations for demonstrating biological characteristics . . . Speaking
XF XF00
CONFIGURATIONS, PURPOSES OF MANUAL MANIPULATORS 		XF01 XF02 XF03 XF05 XF06 XF07 XF09
. Having joints . Flexible . Having mounting devices to supports . Tool hands . Holding hands . Saucer hands . Having driving mechanisms
XG XG00
CONFIGURATIONS, PURPOSES OF MICROMANIPULATORS 		XG01 XG02 XG03 XG04 XG05 XG06 XG08
. Characterized by drive sources . Having traveling mechanisms . Characterized by bases . Characterized by arms . Characterized by hands . Characterized by control parts . Processing relative to works in contact less states
XJ XJ00
CONFIGURATIONS, PURPOSES OF GLOVE BOXES 		XJ01 XJ03 XJ05
. Characterized by structures of boxes . Characterized by gloves . Characterized by gas sweeping, gas sealing
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