The University of Tokyo

Honda Motor Co., Ltd.

Denso Corporation

Japan Science and Technology Agency

So-ken Corporation

Masayuki Inaba

Kei Okada

Masao Kanazawa

Shunichi Nozawa

Yohei Kakiuchi

Koji Kawasaki

Takenori Matsue

Yoshiki Kanemoto

Michihiro Matsuura

Xiaojun Sun

Masami Kurosaka

Yuki Asano

Kimitoshi Yamazaki

A knee joint that is capable of widening a moveable range, and that has good energy efficiency and is small and lightweight is described. Also described is a knee joint that is of an active type, but comparatively inexpensive. A drive section moves a driven member. An elastic member is arranged between the driven member and a linear motion member. The linear motion member elastically moves in at least one direction, in accordance with movement of the driven member, by way of the elastic member. A crank mechanism can realize bending and extension of the knee joint by converting linear motion of the linear motion member to rotational motion.

Knee joint

An arithmetic processing unitestimates a possible existence region of a specific state quantity by performing polyhedron projection processing for finding a projection region obtained by projecting a convex polyhedron to a subspace representing the specific state quantity, where the convex polyhedron is within a space configured with the contact reaction forces of a plurality of contacting portions () of a mobile robotand the specific state quantity as variable components and where the convex polyhedron is specified by a mechanical relation between the contact reaction forces and the specific state quantity and by a linear inequality representing a contact reaction force constraint condition.

Device and method for estimating possible existence region of specific state quantity of mobile robot

A observation device includes an aircraft and an observation unit attached to the aircraft that observes a target within a predetermined view angle. The aircraft includes a base, at least two thrusters that generate a propulsion force including lift, actuators that change a direction of the propulsion force generated by the thrusters with respect to the base, an inertial measurement unit (IMU) that detects an orientation of the base with respect to a ground surface, and a controller that controls the thrusters and the actuators based on the orientation of the base detected by the IMU. The observation unit is fixedly attached to the base and the aircraft is configured to fly in any arbitrary orientation with respect to the ground surface through a combination of a magnitude of the propulsion force and the direction of the propulsion force of each of the thrusters.

Observation device

A controllerfor a mobile robotestimates, in a climbing up or down motion of the robot, the difference between the actual position and attitude of a distal end portionof a to-be-supported movable linkthat has been supported by a structure A and the desired position and attitude thereof, and determines a motion target of the robotsuch that at least either the desired relative position/attitude of the distal end portionof the to-be-supported movable linkwith respect to a base bodyor the desired support position/attitude of the distal end portionof a to-be-moved movable link, which is to be moved, is adjusted according to the estimated value of the difference.

Controller for mobile robot

Provided is a feature extraction that extracts a feature that represents a characteristic of a subject, the feature being extracted from an image that has imaged the subject, the feature being extracted without relation to the shape of the subject. The feature extraction extracts the feature from the image of the subject, the subject having been imaged by an imaging means.

Feature extraction method, object classification method, object identification method, feature extraction device, object classification device, object identification device, feature extraction/object classification/object identification program, and recording medium on which the program is recorded

Growing community of inventors

Tokyo, Japan

Masayuki Inaba