Nsk Corporation

Kazuteru Tobita

Satoshi Ozaki

Masaki Kuwahara

Mayuko Mori

Seiichi Teshigawara

Masaaki Tanoue

A self-propelled device, control method, and control program therefor are provided. The method and control program each include: position estimation; determining an intersection point of a virtual path connecting start and end points and a straight line passing through a position of the device, orthogonal to the virtual path; determining an offset reference point between the intersection point and the end point; determining at least each of two offset points offset on a corresponding goal point side or a start point side of the offset reference point on the virtual path; determining at least two target points reached by rotating the offset points by 90&#xb0; about the offset reference point; and causing the device to travel toward the target points.

Self-propelled device, and method and travel control computer program of controlling traveling of self-propelled device

A force sensor includes: a base; a first movable portion arranged to face the base; a second movable portion arranged to face the first movable portion; a support that is provided on the base and rockably supports the first movable portion and the second movable portion; a joint that is provided to the support and rotatably supports the second movable portion; and a first detection unit that can detect a force component causing the first movable portion and the second movable portion to rock and a second detection unit that can detect a force component causing the second movable portion to rotate, when external force is applied to at least one of the first movable portion and the second movable portion.

Growing community of inventors

Kanagawa, Japan

Kazuteru Tobita