Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Nobuyuki Ohno

Tadaaki Hasegawa

Toyohei Nakajima

Yasushi Okada

Toshiyuki Mieno

Makoto Sekiya

Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q(k) and a second reference point q(k) in the time-space coordinate system is set to satisfy a first condition defined according to a motion performance of an actuator. When a previous trajectory candidate tr(k&#x2212;1) is determined to have a contact with an object trajectory tro, a current positional relationship (k&#x3e;1) between the first reference point q(k) and the second reference point q(k) in the time-space coordinate system is set to satisfy a second condition that a current time interval between the first reference point q(k) and the second reference point q(k) is longer than a previous time interval or the like.

Mobile apparatus and robot, and control system thereof

A controller for a mobile robot which carries out task of moving an object so as to make a position of a representative point of the object and a posture of the object follow a desired position trajectory and a desired posture trajectory, in a state where distal portions of arms is made to contact a portion adjacent to one end of the object, which variably sets the position of the representative point of the object in an object coordinate system when the object is observed in the yaw axis direction, at least in accordance with the change of the desired posture about the yaw axis in the desired posture trajectory. By doing so, movement of the object appropriate for the changing pattern of the desired posture of the object is carried out.

Controller of mobile robot

A robot that is capable of traveling while moving an object such that the object and the robot itself will not step out of a predetermined area is provided. If a traveling requirement that the robot and the object remain within a pathway area is not met, then an action scheme of the robot is corrected so as to meet the traveling requirement. Then, the robot travels while moving the object according to the corrected action scheme, thus enabling the robot to travel while moving the object such that both the object and the robot do not step out of the pathway area.

Robot

A controller of a mobile robot that moves an object such that the position of a representative point of the object and the posture of the object follow a desired position and posture trajectory is provided. The desired posture trajectory of the object includes the desired value of the angular difference about a yaw axis between a reference direction, which is a direction orthogonal to the yaw axis of the object, and the direction of the moving velocity vector of the representative point of the object, defined by the desired position trajectory. The controller has a desired angular difference setting means which variably sets the desired value of the angular difference according to at least a required condition related to a movement mode of the object. This allows the object to be moved at a posture which meets the required condition of the movement mode.

A provisional desired motion trajectory of an object is determined based on a moving plan of the object. Then, it is determined whether a robot leg motion can satisfy a necessary requirement. The requirement is related to a position/posture relationship between the object and the robot, and a determination of whether the requirement can be satisfied is made at a future, predetermined step. A restrictive condition related to robot leg motion is satisfied at each step up to the predetermined number of steps. If the requirement is satisfied, then a desired gait is generated on the basis of the provisional desired motion trajectory. Otherwise, a desired gait is generated on the basis of a desired motion trajectory of the object according to a corrected moving plan.

Gait creation device of leg-type mobile robot

A robot configured to check whether an object is properly grasped by a hand determines whether the position and posture of a handle (object), determined based on an image obtained by a camera (external information), and the position and posture of the handle in the case where the handle is assumed to be properly grasped, determined from the posture of a robot based on an output or the like of a rotary encoder (internal information), agree with each other. In response to the determination of whether the external information and the internal information agree with each other, it is determined whether the handle is properly grasped based on a force detected by a six-axis force sensor provided on each hand.

Robot, control method therefor and control program therefor

A device for detecting and measuring the concentration of a gas in a mixture of gas such as oxygen in the exhaust gas of an internal combustion engine and circuits for using that measurement to control the air-fuel ratio supplied to the engine. The detecting device has two separate gas residence chamber with different diffusion resistance openings for each chamber and separate pairs of electrodes for each chamber whereby the measurement can be separately made in each chamber. The particular chamber selected for measurement may be done on the basis of whether the air-fuel ratio is lean or rich whereby a substantially linear reading results for all ratios or on the basis of the transition-state or steady-state operating condition of the engine to provide either more rapid or more accurate readings. Further, by using the cells from both chambers to compare their readings and standards, the actual readings can be corrected for abnormalties that may occur after a period of use or to indicate the detector has become defective.

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Wako, Japan

Nobuyuki Ohno