Honda Motor Co., Ltd.

Tokyo Institute of Technology

Showa Corporation

Minami Asatani

Tomoki Watabe

Toru Takenaka

Kazushi Akimoto

Takahide Yoshiike

Masatoshi Okutomi

Shinya Shirokura

Shigeki Sugimoto

Takashi Matsumoto

Hiroaki Ono

Hiroshi Gomi

Kazushi Hamaya

Taro Yokoyama

Koji Kawabe

Hiroyuki Kaneko

Tsukasa Sugino

Takumi Kamioka

Masao Kanazawa

Takashi Nakayama

Satoki Matsumoto

Yuichiro Kawaguchi

Taku Osada

Yasuhiro Yamasaki

Itoshi Naramura

Katsushi Tanaka

Ryuma Ujino

Takahiro Kuroki

Shintarou Fujita

Sunao Hayashi

Katsushi c/o Showa Corporation Tanaka

A second processing unit (), which receives a first count value N1 transmitted in a predetermined reference cycle Δt1 from the first processing unit (), has a second counter () which outputs a second count value N2 in a cycle Δt2 shorter than the reference cycle Δt1. The second count value N2 is initialized in response to reception of the first count value N1. The second processing unit () associates time determined according to the first count value N1 and the second count value N2 with generated or acquired second data (external measurement data).

Control processing device

An operating environment information generating device is provided which estimates, upon contact of a mobile robot () with a surface portion of an external object, a position and posture of the contact surface on the basis of a posture state of the robot (), and, in the case where the degree of difference between the estimates and a position and posture of the surface portion of the external object indicated by environment information created based on measurement data by an external-object recognition sensor () is large, corrects the environment information at the contact location in such a way as to make the position and posture of the contact surface match the estimates.

Operating environment information generating device for mobile robot

An environment recognition unit () includes a frame (), cameras () arranged on a front side in the frame (), a camera control circuit () disposed on a back side in the frame (), a pair of LRFs () arranged laterally to the frame (). The frame () includes a first duct () provided adjacent to the camera control circuit (), and a second duct () provided adjacent to the cameras ().

Environment recognition unit and robot

A motion target generating apparatus calculates the time series of motion accelerations of a base bodyand the distal end portion of each of movable linksandof a robotat a plurality of times after a current time such that the value of a predetermined evaluation function is minimized in a range in which a joint motion constraint condition of each of the movable linksandof the robotis satisfied. Based on the calculated values of the motion accelerations at an initial time, new desired motion accelerations of the base bodyand the distal end portion of each of the movable linksandare determined. The desired value for controlling each joint of the robotis determined on the basis of the desired motion accelerations.

Motion target generating apparatus of mobile robot

A position and a posture of a virtual face is searched so that a total cost E of a first cost Eand a second cost Eis approximated to a smallest value or a minimum value. A first cost E(e) corresponds to a sum of elastic energy with a first deviation e(s) as a deformation amount, of a virtual spring group having a value of a first coefficient function w(e(s)) in a target region of a standard image as a spring coefficient. A second cost E(e, e) corresponds to a sum of elastic energy with a second deviation eas a deformation amount, of a virtual spring group having a value of a second coefficient function w(e(s) of each pixel s included in the target region of the standard image as a spring coefficient.

Contact state estimating apparatus

An apparatus capable of improving the estimation accuracy of information on a subject including a distance up to the subject is provided. According to an environment recognition apparatusof the present invention, a first cost function is defined as a decreasing function of an object point distance Z. Thus, the longer the object point distance Z is, the lower the first cost of a pixel concerned is evaluated. This reduces the contribution of the first cost of a pixel highly probable to have a large measurement or estimation error of the object point distance Z to the total cost C. Thereby, the estimation accuracy of a plane parameter ^q representing the surface position and posture of the subject is improved.

Environment recognition apparatus

A state where at least a part of the virtual object (e.g., a foot of a robot) enters into the actual object (e.g., floor), i.e., a state where at least a part of a plurality of virtual points located on the surface of the virtual object is inside the actual object, can be assumed. At each of the inside and the outside of the actual object, as a virtual point is located at a deeper position inside and away from the surface or the skin part of the actual object and as a coordinate value difference &#x394;Zis larger, a higher value is calculated for the cost Eas well. The combination Z^ of coordinate values of virtual points, bringing the total cost E=&#x3a3;Ecloser to an absolute minimum or a local minimum, can be searched.

Contact state estimating apparatus and trajectory generation apparatus

A method for performing a convergence calculation using a projective transformation between images captured by two cameras to observe a flat part of an object in the images, wherein a computational load is reduced while securing a convergence property of the convergence calculation. Initial values (n(), d()) are set to values satisfying a limiting condition that should be satisfied by the initial values (n(), d()), where the limiting condition is that a plane &#x3c0;a(i) defined by the initial values (n(), d()) of given types of parameters (n(i), d(i)) of a projective transformation matrix in the convergence calculation is inclined with respect to an actual plane including the flat part of the object to be observed.

Projective transformation convergence calculation method

A robot capable of performing appropriate movement control while reducing arithmetic processing for recognizing the shape of a floor. The robot sets a predetermined landing position of steps of the legs on a present assumed floor, which is a floor represented by floor shape information used for a current motion control of the robot, during movement of the robot. An image projection area is set, and is projected on each image captured by cameras mounted on the robot for each predetermined landing position in the vicinity of each of the predetermined landing positions. Shape parameters representing the shape of an actual floor partial area are estimated, forming an actual floor whose image is captured in each partial image area, based on the image of the partial image area generated by projecting the set image projection area on the images captured by the cameras for each partial image area.

Legged locomotion robot

In a legged mobile robot, a pivoting motion of a foot () relative to a leg is controlled such that, from an intermediate time point in a period of departure of a leg from a floor to a starting time point of a period of landing of the leg on the floor, an angle (&#x3b8;) of inclination of the foot () of the leg relative to the floor surface gradually approaches zero. This eases impact to the foot of the leg at the time of landing on the floor and prevents a slip or spin of the sole, thereby enabling stable walking or running.

Legged mobile robot and control program

A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided. According to a robotin accordance with the present invention, a deformation amount (mechanism deformation amount) of a compliance mechanismthat occurs due to a desired floor reaction force of a foot (ground contacting portion)is determined, and the operation of a legis controlled such that the footlands onto a floor at a predetermined velocity in a vertical direction or in a direction perpendicular to the floor surface on the basis of a component of the mechanism deformation amount in the vertical direction or a component thereof in the direction perpendicular to the floor surface.

Legged mobile robot and control program for the robot

When there is an object that has a possibility to come into contact with a robotin a desired path, the robotis decelerated stepwise according to the distance L from the robotto a predicted contact position along the desired path. For example, legsand the like of the robotare so controlled that when the distance L is less than a first threshold L, the moving speed is reduced to a first speed V, and when the distance L is less than a second threshold lower than the first threshold, the moving speed is reduced from the first speed to a second speed.

Legged mobile robot

Disclosed is a space-saving autonomous mobile robot capable of switching two types of light irradiation appropriately. The robot includes a moving mechanism, an autonomous movement controller for controlling the moving mechanism, a self-location recognition unit for sensing a self-location of the robot, a map data storage unit for storing a map data on locations of marks, a slit light device for irradiating a detection area with slit light, an infrared device for irradiating a detection area with infrared rays, and a switch determination unit for comparing a mark-formed region and the self-location, and then, for switching between the slit light and infrared devices, based on the comparison result. Moreover, the infrared device irradiates the detection area when the self-location is within the mark-formed region, while the slit light device irradiates the detection area when the self-location is outside the mark-formed region.

Autonomous mobile robot

An assist deviceis equipped with a spring means(gas spring), and a pistonin a cylindermoves upward or downward according to a relative displacement motion (flexing or stretching motion) of a thighand a crusat a knee jointof a legof a robot. Air chambersandabove and below the pistonare filled with gases. If a flexing degree at the knee jointis a predetermined value or less, then the air chambersandare brought into communication through a groovein the cylinder, and the spring meansdoes not generate an elastic force, but if the flexing degree exceeds the predetermined value, then the air chambersandare hermetically sealed from each other and the spring meansproduces an elastic force, the elastic force acting on the knee jointas assisting driving force. A burden on a joint actuator of a leg can be reduced, while reducing energy consumption of the robot by using a small and simple construction. Moreover, a change in the characteristics of an assisting driving force of the spring meansin response to a flexing degree of the knee jointcan be restrained.

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Wako, Japan

Minami Asatani