JPH0213784A - Method and device for drying specimen grain in drying facility - Google Patents

Method and device for drying specimen grain in drying facility

Info

Publication number
JPH0213784A
JPH0213784A JP16399088A JP16399088A JPH0213784A JP H0213784 A JPH0213784 A JP H0213784A JP 16399088 A JP16399088 A JP 16399088A JP 16399088 A JP16399088 A JP 16399088A JP H0213784 A JPH0213784 A JP H0213784A
Authority
JP
Japan
Prior art keywords
grain
weight
drying
control device
sample
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP16399088A
Other languages
Japanese (ja)
Inventor
Aijiro Kaneko
金子 愛次郎
Yoshiro Chinen
知念 悌郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kaneko Agricultural Machinery Co Ltd
Original Assignee
Kaneko Agricultural Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kaneko Agricultural Machinery Co Ltd filed Critical Kaneko Agricultural Machinery Co Ltd
Priority to JP16399088A priority Critical patent/JPH0213784A/en
Publication of JPH0213784A publication Critical patent/JPH0213784A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE:To obtain uniformly dried specimen grain continuously by a method wherein one part of the specimen grain, extracted out of the grain whose average value of moisture is measured, is thrown into a drying machine to measure the weight thereof and, thereafter, the drying of the grain is started while the grain is dried until the weight, in which the desired value of moisture is achieved, is obtained while measuring the weight thereof by a drying machine control device. CONSTITUTION:A moisture meter 107, measuring the value of moisture of loading grain in a hopper 302 and outputting the result of the measurement to a control device 106 as a signal, is annexed to a loading and metering machine 101. A drying machine 108, equipped with a weight measuring device for drying one part of the specimen grain thrown into the loading and metering machine 101 to the grain having the desired value of moisture, is pro vided with a measuring device 110, measuring the weight of the specimen grain at proper times while the measured weight is transmitted one by one to a drying machine control device 109. The drying machine control device 109 controls the starting and stopping of the drying machine 108 to dry the specimen grain so as to have a weight, in which the desired vaiue of moisture is achieved, based on the weight of the specimen grain thrown into the drying machine 108, which is transmitted from the control device 106.

Description

【発明の詳細な説明】 「産業上の利用分野」 本発明は、共同乾燥調整施設にお−て、個人別或は筒口
人別に持ち込まれた各穀物の一部の試料穀物を希望する
仕上り水分値に迅速に仕上げ乾燥せしめて、持ち込まれ
た穀物の持ち分に応じて生産者売渡し代金の配分を正確
に行うようにした乾燥施設における試料穀物の乾燥方法
およびその装置に関する。
DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention is directed to drying and adjusting a portion of sample grains brought in individually or by each person at a communal drying and conditioning facility to a desired finished moisture content. The present invention relates to a method for drying sample grains in a drying facility and an apparatus for drying sample grains in a drying facility, in which the sample grains are quickly finished and dried to a desired value, and the sales proceeds to producers are accurately distributed according to the share of the grains brought in.

「従来・の 技術」 従来、共同乾燥調整施設において、−度に持ち込まれた
多種類の試料穀物を乾燥でき、乾燥箱に供給される乾燥
熱風を各乾燥′箱に均一に供給すると共に、乾燥装置か
ら排出される塵埃を含んだ乾燥排風を処理し易くした穀
物試料乾燥装置は本出願前特公昭63−23471号公
報に記載されて知られており、その内容を第2図を用い
て説明する。
``Conventional technology'' Previously, in a joint drying and conditioning facility, it was possible to dry a wide variety of sample grains brought in at the same time. A grain sample drying device that facilitates the treatment of dry exhaust air containing dust discharged from the device is known as described in Japanese Patent Publication No. 63-23471 before the present application, the contents of which are described in Fig. 2. explain.

すなわち、横方向に延びる長方形の乾燥用様枠1を、そ
の内部を乾燥棚2を横架して上部風路3と下部風路4と
に仕切り、乾燥棚2の上部には機枠1の前部側壁5に設
けた複数個の開口窓6から出入自由にそれぞれ嵌入した
複数の収納用容器7を設け、これら収納用容57のそれ
ぞれには通気口8を有する底壁9を備えた乾燥箱10を
複数ずつ着脱自在に上載し、前記上部風路3は機枠1の
横方向の一側に設けた熱風発生機1)に連通ずると共に
、下部風路4Fi、横方向の他側に設けた排風機12に
連通せしめて、排風機12の回転による吸引力で、熱風
発生機1)によって加温された空気を、上部風路3から
各乾燥箱10・・・・・・・・・を通過し下部風路4よ
り機枠1外に排出せしめるよう流動せしめ、試料穀物を
乾燥するように構成したものである。
That is, a rectangular drying frame 1 extending in the horizontal direction is partitioned into an upper air passage 3 and a lower air passage 4 by horizontally placing a drying rack 2 therein. A plurality of storage containers 7 are provided which can be freely accessed and removed through a plurality of opening windows 6 provided in the front side wall 5, and each of these storage containers 57 is provided with a bottom wall 9 having a ventilation hole 8. A plurality of boxes 10 are removably placed on top of each other, and the upper air passage 3 communicates with the hot air generator 1) provided on one side of the machine frame 1 in the lateral direction, and the lower air passage 4Fi communicates with the other side of the machine frame 1 in the lateral direction. The air heated by the hot air generator 1) is communicated with the provided exhaust fan 12, and the air heated by the hot air generator 1) is transferred from the upper air passage 3 to each drying box 10 by the suction force generated by the rotation of the exhaust fan 12.・The sample grains are dried by flowing through them and being discharged from the lower air passage 4 to the outside of the machine frame 1.

[発明が解決しようとする課題」 ところで、従前のこの種穀物試料乾燥装置においては、
個人別或は筒口人別に持ち込まねる穀物の初期水分値は
それぞれ異なるは勿論のこと、持ち込まれる時間もマチ
マチであり、持ち込まれた各穀物の試料穀物を同一の水
分値となるように仕上げ乾燥するためには作業者が常時
乾燥状態を監視する必要が生ずる許りか、乾燥熱風によ
って試料穀物を乾燥する関係で乾燥時間(略24時間)
が多(要する外、筒口数が多い場合には収納用容器の数
も自然に多(なり、その結果、穀物試料乾燥装置も必然
的に大型となって、大きな設置面積を必要となる等の問
題点があった。
[Problem to be solved by the invention] By the way, in the conventional grain sample drying apparatus of this type,
Not only do the initial moisture values of the grains brought in by individuals or people differ, but the time they are brought in also varies, so the sample grains of each grain brought in are finished and dried so that they have the same moisture value. This may require the operator to constantly monitor the drying state, but the drying time (approximately 24 hours) may be due to the fact that the sample grains are dried using hot drying air.
(Not only that, but if there are many tube openings, the number of storage containers will naturally be large.As a result, the grain sample drying device will also inevitably be large, requiring a large installation area, etc.). There was a problem.

本発明は、従来の技術の有するこのような問題点に鑑み
てなされたものであり、その目的とするところは、荷受
計量機4こ投入した穀物の平均水分値と荷受した穀物よ
り抽出して重量測定装置付の乾燥機に投入された一部の
試料穀物の投入重量との検出信号を乾燥機制御装置に送
って乾燥せしめると共に前記乾燥機制御装置の制御作動
により試料穀物が希望する水分値になる重量まで乾燥せ
しめたことで均一に乾燥された試料穀物を連続して得る
ことができる乾燥施設における試料穀物の乾燥方法およ
びその装置を提供しようとするものである。
The present invention has been made in view of the above-mentioned problems of the conventional technology, and its purpose is to calculate the average moisture content of grains fed into four receiving weighing machines and the moisture content extracted from the received grains. A detection signal indicating the input weight of some sample grains put into a dryer equipped with a weight measuring device is sent to the dryer control device to dry the sample grains, and the desired moisture value of the sample grains is determined by the control operation of the dryer control device. It is an object of the present invention to provide a method for drying sample grains in a drying facility and an apparatus for drying sample grains in a drying facility, which can continuously obtain sample grains that have been dried to a weight of .

F問題を解決するための手段」 上記目的を達成するために、本発明における乾燥施設に
おける試料穀物の乾燥方法は、荷受計量様において平均
水分値が測定さねた穀物より抽出した一部の試料穀物を
重量測定装置付の乾燥機に投入してその投入重量を測定
した後乾燥を開始し前記試料穀物を測定平均水分値及び
投入重量にもとづき制御作動する乾燥機制御装置により
連続的又は経時的に試料穀物の重量を測定しながら希望
する水分値となる重量迄乾燥したものであり、又乾燥施
設における試料穀物の乾燥装置は、荷受した穀物の水分
値を夫々測定し、その各測定水分値を制御装置に送るこ
とができる水分計−を備えた荷受計1轡と、荷受計IJ
に投入された穀物より抽出した一部の試料穀物を重量測
定装置付の乾燥機に供給せしめると共に、水分計より送
られた各測定水分値の平均水分値を乾燥機制御装置に送
って乾燥機の始動停止作動を行わせる制御装置と、投入
さねた試料穀物の重量を測定し、かつ乾燥作業中連続的
又は経時的に試料穀物の重層を測定してその重量が希望
する水分値となる重量となった時に乾燥機制御装置より
の制御作動で乾燥が停止される重量測定装置付の乾燥機
とよりなるものである。
Means for Solving Problem F" In order to achieve the above object, the method for drying sample grains in a drying facility according to the present invention is based on a method for drying sample grains in a drying facility. Grain is put into a dryer equipped with a weight measuring device, the weight of the feed is measured, drying is started, and the sample grain is continuously or over time controlled by a dryer control device that operates based on the measured average moisture value and the weight of the feed. The sample grains are dried until the weight reaches the desired moisture value while measuring the weight of each sample grain at A cargo receiver equipped with a moisture meter that can send moisture to the control device, and a receiver IJ
A part of the sample grains extracted from the grains put into the dryer is fed to the dryer equipped with a weight measuring device, and the average moisture value of each measured moisture value sent from the moisture meter is sent to the dryer control device. A control device that starts and stops the sample grain, measures the weight of the sample grain that has not been added, and measures the layers of the sample grain continuously or over time during the drying process so that the weight reaches the desired moisture value. This dryer is equipped with a weight measuring device that stops drying by controlling the dryer control device when the dryer reaches a certain weight.

「作      用」 今、個人別或は筒口人別に持ち込まれた穀物を次々と荷
受計量機に投入してその重量を逐次測定すると同時に水
分計により投入された各穀物の水分値を測定し、その水
分値の信号を制御装置に送る。したがって、持ち込まれ
た穀物の量により例えば荷受計ff)機への投入回数が
6回となわば水分計による水分測定回数も6回となるは
勿論のこと重A測定も6回となり、その紛争が計測され
る。
``Function'' Now, the grains brought in by individuals or people at Tsutsuguchi are put into the receiving weighing machine one after another and their weight is measured one after another.At the same time, the moisture value of each grain put in is measured by the moisture meter. Sends a moisture value signal to the control device. Therefore, depending on the amount of grain brought in, for example, if the number of times the grain is fed into the receiving machine is six times, the number of moisture measurements by the moisture meter will be six times, and the amount of grain A will be measured six times, and the dispute is measured.

そして、上記水分計により測定された夫々の水分値はそ
の都度信号となって制御装置に送られた後、前記制御装
置によりその平均水分値W、 (例えば25%)の信号
が乾燥機制御装置に送られる。
Each moisture value measured by the moisture meter is sent as a signal each time to the control device, and then the control device sends a signal of the average moisture value W, (for example, 25%) to the dryer control device. sent to.

一方、荷受計量機に投入された穀物の一部は制御装置の
制御作動により抽出されて試料穀物となり重量測定装置
付の乾燥様へ投入され、直ちに試料穀物の重fi’W+
 (例えば120.9 )が測定され、その信号が乾燥
機制御装置に送られる。そこで乾燥機制御装置の制御作
動で乾燥が開始され、試料穀物の乾燥の進行に伴ない試
料穀物の重量・を重量測定装置によって連続的或は経時
的に測定し、その測定値を乾燥機制御装置に信号となっ
て送られる。
On the other hand, a part of the grains fed into the receiving and weighing machine are extracted by the control operation of the control device, become sample grains, and are fed into a dryer equipped with a weighing device, and immediately the weight of the sample grains fi'W+
(for example 120.9) is measured and the signal is sent to the dryer controller. Therefore, drying is started by the control operation of the dryer control device, and as the drying of the sample grain progresses, the weight of the sample grain is measured continuously or over time by a weighing device, and the measured value is used to control the dryer. It is sent as a signal to the device.

ところで前記乾燥機制御装置内には、平均水分値(例え
ば25%)の試料穀物を希望する仕上げ水分値W= (
例えば15%)となる重量wtを算出する式、 が予め組込まれているので、直ちにその重量が算出され
る。
By the way, in the dryer control device, there is a desired finished moisture value W= (
For example, the formula for calculating the weight wt (15%) is pre-installed, so the weight can be calculated immediately.

即ち、本発明の方法および装置においては、平均水分値
w、・・・・・・・・・25%乾燥機に投入した試料穀
物量題・・・・・・・・・120g  希望する仕上げ
水分値Wfi・・・・・・15% であるから、希望する仕上げ水分値町となる重量W、は
、曲成により、 となり、試料穀物120gを1059迄減量するように
乾燥すればよいことになる。
That is, in the method and apparatus of the present invention, the average moisture value w is 25%, the amount of sample grain fed into the dryer is 120g, the desired finished moisture content is Since the value Wfi is 15%, the weight W that gives the desired finished moisture value is as follows by bending, and it is only necessary to dry 120 g of sample grain to reduce the weight to 1059. .

したがって、乾燥機制御装置の制御作動により乾燥を続
行して、試料穀物の重ffiwzが105Iとなった時
点で乾燥を停止すれば、希望する仕上げ水分値(例えば
15%)となった試料穀物が容易に得られる。
Therefore, if drying is continued by the control operation of the dryer control device and drying is stopped when the weight ffiwz of the sample grain reaches 105I, the sample grain with the desired finished moisture value (for example, 15%) will be easily obtained.

そね故、個人別或は両口人別に時間差をおいて持ち込ま
れた水分値の異なる各穀物は前述と同様の操作で希望す
る仕上げ水分値となるように乾燥することができる。
Therefore, grains with different moisture values brought in at different times by individuals or by both parties can be dried to a desired finished moisture value by the same operation as described above.

「実  旙  例」 実旋例について図面を参照して説明する。"Real example" A practical example will be explained with reference to the drawings.

第1図において、101け、個人別或は両口人別に持ち
込まれた穀物量を計量するための荷受計量機であって、
該荷受計i@101は、上面を開放し、下部に開閉自在
の落下口104,105を夫々開口した上下二段のホッ
パ102,103を適当間隔をおいて立設して構成さね
ている。そして下段のホッパ102の一側には荷受穀物
の水分値を測定して、その測定水分値を荷受計量機10
1の制御装置106へ信号として送るための水分計10
7が付設されている。したがって、荷受計量機101で
計量する回数が6回であるならば、水分計107による
水分測定回数も6回となり、その都度、水分測定値が制
御装置106に送られることになる。
In FIG. 1, 101 is a receiving and weighing machine for weighing the amount of grain brought in by individual or by both parties,
The cargo receiver i@101 has an open upper surface and two upper and lower hoppers 102 and 103, each having drop ports 104 and 105 that can be opened and closed at the bottom, respectively, and are erected at appropriate intervals. . Then, on one side of the lower hopper 102, the moisture value of the received grain is measured, and the measured moisture value is transferred to the receiving weighing machine 102.
Moisture meter 10 for sending a signal to the control device 106 of 1
7 is attached. Therefore, if the number of times of weighing with the receiving weighing machine 101 is six, the number of times of moisture measurement with the moisture meter 107 will also be six, and the moisture measurement value will be sent to the control device 106 each time.

なお前記荷受計量機101により穀物量も測定できるよ
うになっている。
Incidentally, the amount of grain can also be measured by the receiving weighing machine 101.

106は、荷受計31機101の運転−作動を制御でき
る許りか水分計107より送られて来た複数の測定値を
平均化して、その平均水分値W、を乾燥機制御装置10
9へ信号として送ることができる制御装置である。
106 averages a plurality of measured values sent from the moisture meter 107 to control the operation of the cargo receiving meter 31 101, and outputs the average moisture value W to the dryer control device 10.
It is a control device that can be sent as a signal to 9.

108は、荷受計t)elolに投入された穀物より抽
出した一部の試料穀物を希望する仕上げ水分値(例えば
15%)に仕上げ乾燥するための重を測定装置付の乾燥
機であって、該乾燥機108には投入された試料穀物の
重量題を連続的又は経時的に測定するための重量測定装
置1)0が設けられており、前記重量測定装置1)0で
連続的或は経時的に測定された試料穀物の重量W、は信
号となって逐次乾燥機制御装e109に送らねる。前述
した乾燥機制御装置109は乾燥機108の始動、停止
の運転制御を行うことができる許りか、制御装置106
より送られて来た平均水分値w1、乾燥機108に投入
さねた試料穀物のfrfiW+に基づいて、試料穀物を
希望する仕上ユ氷分値wt (例えば15%)になる重
It wt迄乾燥作業を続行せしめるための制御機材が
組み込まねている。
108 is a dryer equipped with a weight measuring device for finishing and drying some of the sample grains extracted from the grains loaded into the receiving machine t)elol to a desired finished moisture value (for example, 15%), The dryer 108 is equipped with a weight measuring device 1)0 for measuring the weight of sample grains fed therein continuously or over time. The measured weight W of the sample grain is sequentially sent as a signal to the dryer control device e109. The dryer control device 109 described above can control the start and stop of the dryer 108, and the control device 106
Based on the average moisture value w1 sent from the dryer 108 and the frfiW+ of the sample grains that were not put into the dryer 108, dry the sample grains until the desired finished ice content wt (for example, 15%) is reached. Control equipment to allow work to continue has not been installed.

したがって、前記乾燥様制御装置109には0O−WI W、=W、X− 100−w2 の演算式が組み込まれている。Therefore, the drying mode control device 109 has 0O-WI. W,=W,X- 100-w2 Contains arithmetic expressions.

故に、今 平均水分値W1・・・・・・25% 試料穀物の重fiW+・・・・・・120F!希望する
仕上げ水分値W、・・・・・・15%とした時には、試
料穀物の乾燥停止重量W、は上式%式% となり、試料穀物を希望する仕上げ水分値15%にする
には試料穀物の重量を105.!i+にすればよいこと
が判る。
Therefore, the average moisture value W1...25% The weight of the sample grain fiW+...120F! When the desired finished moisture value W is set to 15%, the drying stop weight W of the sample grain becomes the above formula %, and in order to make the sample grain the desired finished moisture value 15%, the sample grain The weight of the grain is 105. ! It turns out that it is sufficient to set it to i+.

[発明の効果」 本発明は、以上説明したように構成されているので、以
下に記載されるような効果を奏する。
[Effects of the Invention] Since the present invention is configured as described above, it produces effects as described below.

荷受計量四に投入した穀物の平均水分値と荷受した穀物
より抽出して重量測定装置付は乾燥機に投入された一部
の試料穀物の投入型缶との検出信号を夫々乾燥機制御装
置に送って乾燥せしめると共に、前記乾燥機制御装置の
制御作動により試料穀物が希望する水分値になる重量ま
で乾燥することができるので、共同乾燥施設にふ・いて
個人別或は両口人別に持ち込まれた穀物の一部試料穀物
を希望する仕上げ水分値となるよう均一に乾燥せしめて
、持ち込まれた穀物の持ち分に応じて生産者売渡し代金
の配分を正確に行うことができる。
The device that measures the average moisture content of the grains fed into the receiving weigher and the weight extracted from the received grains sends detection signals to the dryer control device, respectively, from the sample grain cans fed into the dryer. At the same time, the sample grains can be sent to the drying facility for drying, and can also be dried to a weight with a desired moisture content by the control operation of the dryer control device. By uniformly drying some sample grains to a desired finished moisture value, producers can accurately allocate sales proceeds according to their share of the grains brought in.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図は本発明の方法を実施するための乾燥装置の見取
図、第2図は従来例を示す穀物試料乾燥装置の一部を切
開した正面図である。 101・・・荷受計量機、106・・・制御装置、10
7・・・水分計、108・・・乾燥機、109・・・乾
燥機制御装置、1)0・・・重量測定装置 特許用R人 金子農機株式会社 第1図 LID 第2図
FIG. 1 is a sketch of a drying apparatus for carrying out the method of the present invention, and FIG. 2 is a partially cutaway front view of a conventional grain sample drying apparatus. 101... Receiving weighing machine, 106... Control device, 10
7...Moisture meter, 108...Dryer, 109...Dryer control device, 1) 0...Weight measuring device patent R Jinkaneko Agricultural Machinery Co., Ltd. Figure 1 LID Figure 2

Claims (2)

【特許請求の範囲】[Claims] (1)荷受計量機において平均水分値が測定された穀物
より抽出した一部の試料穀物を重量測定装置付の乾燥機
に投入してその投入重量を測定した後乾燥を開始し、前
記試料穀物を測定平均水分値及び投入重量にもとづき制
御作動する乾燥機制御装置により連続的又は経時的に試
料穀物の重量を測定しながら希望する水分値となる重量
迄乾燥した乾燥施設における試料穀物の乾燥方法。
(1) A part of the sample grains extracted from the grains whose average moisture value was measured by the receiving weighing machine is put into a dryer equipped with a weight measuring device, and after measuring the input weight, drying is started, and the sample grains are A method for drying sample grains in a drying facility where the weight of the sample grains is continuously or over time measured by a dryer control device that operates based on the measured average moisture value and input weight until the weight reaches the desired moisture value. .
(2)荷受した穀物の水分値を夫々測定し、その各測定
水分値を制御装置に送ることができる水分計を備えた荷
受計量機と、荷受計量機に投入された穀物より抽出した
一部の試料穀物を重量測定装置付の乾燥機に供給せしめ
ると共に、水分計より送られた各測定水分値の平均水分
値を乾燥機制御装置に送つて乾燥機の始動停止作動を行
わせる制御装置と、投入された試料穀物の重量を測定し
、かつ乾燥作業中連続的又は経時的に試料穀物の重量を
測定してその重量が希望する水分値となる重量となつた
時に乾燥機制御装置よりの制御作動で乾燥が停止される
重量測定装置付の乾燥機とよりなる乾燥施設における試
料穀物の乾燥装置。
(2) A receiving weighing machine equipped with a moisture meter that can measure the moisture value of each received grain and sending each measured moisture value to a control device, and a portion extracted from the grain loaded into the receiving weighing machine. a control device which causes the sample grain of , measure the weight of the input sample grain, and measure the weight of the sample grain continuously or over time during the drying operation, and when the weight reaches the desired moisture value, the dryer control device A drying device for sample grain in a drying facility consisting of a dryer with a weight measuring device that stops drying by controlled operation.
JP16399088A 1988-06-30 1988-06-30 Method and device for drying specimen grain in drying facility Pending JPH0213784A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP16399088A JPH0213784A (en) 1988-06-30 1988-06-30 Method and device for drying specimen grain in drying facility

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16399088A JPH0213784A (en) 1988-06-30 1988-06-30 Method and device for drying specimen grain in drying facility

Publications (1)

Publication Number Publication Date
JPH0213784A true JPH0213784A (en) 1990-01-18

Family

ID=15784665

Family Applications (1)

Application Number Title Priority Date Filing Date
JP16399088A Pending JPH0213784A (en) 1988-06-30 1988-06-30 Method and device for drying specimen grain in drying facility

Country Status (1)

Country Link
JP (1) JPH0213784A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2353794A1 (en) 2003-06-27 2011-08-10 Honda Motor Co., Ltd. Gait generating device of legged mobile robot and control device of legged mobile robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2353794A1 (en) 2003-06-27 2011-08-10 Honda Motor Co., Ltd. Gait generating device of legged mobile robot and control device of legged mobile robot

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