Toyota Jidosha Kabushiki Kaisha

Kabushiki Kaisha Toshiba

Koji Terada

Takuya Ikeda

Yuta Watanabe

Takahiro Nakayama

Tetsuya Kanata

Kazuhiro Mima

Yasushi Takahashi

Shinichi Umekawa

Kazuto Murase

A robot including a manipulator includes: an image-pickup acquisition unit configured to acquire an image of an environmental space including a target object to be grasped; and a control unit configured to control a motion performed by the robot, in which the control unit causes the robot to acquire, by the image-pickup acquisition unit, a plurality of information pieces of the target object to be grasped while it moves the robot so that the robot approaches the target object to be grasped, calculates, for each of the information pieces, a grasping position of the target object to be grasped and an index of certainty of the grasping position by using a learned model, and attempts to grasp, by moving the manipulator, the target object to be grasped at a grasping position selected based on a result of the calculation.

Robot, method, and manipulating system

A trajectory generation apparatus according to an embodiment includes an arithmetic unit capable of generating a positional trajectory of a movable part of a robot, in which: the arithmetic unit is further capable of generating a velocity trajectory of the movable part; and a predetermined time before switching a trajectory along which the movable part is moved from the velocity trajectory to the positional trajectory, the arithmetic unit predicts a position of the movable part at the time of the switching and generates the positional trajectory that starts from the predicted position.

Trajectory generation apparatus

A trajectory generation system includes a computing unit that generates a trajectory on which a mobile body or a gripper moves from a start position to a target position, and an evaluating unit that evaluates a plurality of trajectory candidates. The computing unit generates the trajectory candidates leading to a target area including the target position and its vicinity, with a plurality of degrees of freedom associated with predetermined grip conditions, within at least one of a range in which the candidates can be computed in a predetermined period, a range in which they can be computed in a predetermined processing amount, and a range in which a predetermined number of trajectory candidates can be computed. The evaluating unit conducts evaluation of the trajectory candidates generated, based on an evaluation item, and the computing unit generates the trajectory, using one trajectory candidate selected based on the evaluation.

Trajectory generation system and trajectory generating method

A program writing method in which a program is written into a flash ROM that a microcomputer includes therein includes: a generating step for generating a version representative value indicating a version of a source directory from predetermined types of files included in the source directory; an additionally writing step for additionally writing the version representative value into a source file included in the source directory; and a program writing step for writing a program corresponding to the source directory generated by compiling the source file into which the version representative value has been additionally written into the flash ROM.

Program writing method, control method of apparatus, program for program writing, and control program of apparatus

A position estimation system and the like that prevent accuracy of self-position information from decreasing is provided. A position estimation systemaccording to the present disclosure includes a first sensor configured to output first data including data of an angular velocity of a wheel driven when a moving apparatusmoves. The position estimation system further includes a second sensor configured to output second data including position data of the moving apparatusdetected not according to the angular velocity of the wheel or data concerning a change in a posture of the moving apparatus. The position estimation system further includes a self-position estimation unit configured to set a priority of the first data according to a value of the angular velocity of the wheel and integrate the first data with the second data based on the set priority to estimate a position of the moving apparatus

Position estimation system, position detection method, and program

Provided is an autonomous moving body that controls driving wheels by allowing a trailing caster to be located on a front side with respect to a traveling direction when it is recognized that there is no step in a traveling direction and controls the driving wheels to change the orientation of a base body in which the driving wheels and the trailing caster are arranged and approach the step so that at least one of two driving wheels contacts the step before the trailing caster contacts the step when it is recognized that there is a step in the traveling direction.

Autonomous moving body and movement control method of autonomous moving body

An object of the present invention is to provide a robot that can improve safety even when the robot is operated in an unobserved region and a method of controlling the robot. The robot according to the present invention operates while observing a surrounding environment. The robot includes environmental information obtaining means for obtaining environmental information on the environment around the robot and control means for reducing a driving force of the robot when the robot is operated in the unobserved region, in which region the environmental information thereof has not been obtained by the environmental information obtaining means.

Robot and method of controlling the same

A trajectory generation device includes a storage unit that stores a plurality of trajectories; a trajectory acquisition unit that acquires a trajectory, corresponding to an environment similar to a current environment, from the plurality of trajectories stored in the storage unit; and a trajectory generation unit that calculates a longest trajectory part, which is present in a moving object moving area in the trajectory acquired by the trajectory acquisition unit, and generates a trajectory by connecting both ends of the calculated longest trajectory part to a predetermined start point and a predetermined end point respectively.

Trajectory generation device, moving object, trajectory generation method

A semiconductor device is provided with a semiconductor substrate having circuit elements formed therein, and an insulating protective film formed on the semiconductor substrate. Hydroxyl groups (OH) are attached to a surface of the protective film. As a result, the contact angle between surface of the protective film and a water droplet is less than or equal to 40 degrees.

Growing community of inventors

Nagakute, Japan

Koji Terada