Honda Research Institute Europe Gmbh

Hisashi Sugiura

Christian Goerick

Michael Gienger

Heiko Wersing

Herbert Janssen

Tobias Rodemann

Bram Bolder

Inna Mikhailova

Stephan Kirstein

Janssen Herbert

A controller for the motion control of a robot, comprises: 

Autonomous robots with planning in unpredictable, dynamic and complex environments

A robot is provided with a motion control unit that avoids collision between segments of the robot or between segments of the robot and other objects. The motion control unit of the robot comprises a distance computing module, a whole body control module, a collision avoidance module, and a blending control unit. The distance computing module calculates two closest points of different segments of the robot connected to each other via at least one joint or a segment of the robot and another object. The collision avoidance module is provided with the information about the two closest points. The blending control unit combines the weighted output control signals of the whole body control module and the collision avoidance control module. The weight of the whole body control output signal is higher when the risk of collision is lower. The weight of the collision avoidance control output signal is higher when the risk of collision is higher. The collision avoidance module is designed to control a collision avoidance action only in the direction parallel to a line connecting between the two closest points.

Robots with collision avoidance functionality

A method for controlling a robot having at least one visual sensor. A target for a motion of the robot is defined. A motion control signal adapted for the robot reaching the target is calculated. A collision avoidance control signal based on the closest points of segments of the robot and a virtual object between the visual sensing means and the target is calculated. The motion control signal and the collision avoidance control signal are weighted and combined. The weight of the motion control signal is higher when a calculated collision risk is lower. The motion of the robot is controlled according to the combined signal so that no segment of the robot enters the space defined by the virtual object.

Robots with occlusion avoidance functionality

Growing community of inventors

Frankfurt-am-Main, Germany

Hisashi Sugiura