Honda Motor Co., Ltd.

Leland Stanford Junior University

Norio Neki

Koji Okazaki

Satoshi Kaneko

Takashi Nakayama

Masaaki Muromachi

Hiroyuki Makino

Oussama Khatib

Yuta Kimura

Shuyun Chung

The present invention provides a workpiece contact state estimating device and a workpiece contact state estimation method to estimate an actual state of contact of a workpiece A with a peripheral object on the basis of a feasible contact acting force range, which is a feasible range of the value of a contact acting force (the force acting on a manipulatorgenerated by contact) prepared in advance for each of a plurality of types of contact states that are feasible as the states of contact of the workpiece A with the peripheral object, and a measurement value of the contact acting force at the time of contact of the workpiece A with the peripheral object.

Workpiece contact state estimating device and workpiece contact state estimation method

Provided is a robot capable of appropriately adjusting a position and the like of a main body in view of executing a specified task involving an interaction with a target object. While the position and posture of the main body () are being controlled according to a second target path, the robot () moves from a first specified area to a second specified area and stands there. In this state, a second position deviation (=the deviation of the position of the main body from a second target path) and a second posture deviation (=the deviation of the posture of the main body from a second target posture) are determined. According to the determination result, the second target path is corrected so that the subsequent position deviation and the like may be smaller.

Robot

An apparatus capable of charging a battery mounted on a robot while allowing the robot to remain stably still in the state of standing on its legs is provided. Driving a first connector backward while it is connected with a second connector would cause a body of the robot to tilt as if being pulled by the first connector. However, it is possible to prevent the posture of the robot from becoming unstable by utilizing the fact that the connected state of first signal terminals and second signal terminals is maintained in that state. The backward driving of the first connector is restricted when a charge control unit is capable of communicating with a control system via the first signal terminals and the second signal terminals. This prevents the undesirable event that the posture of the robot becomes unstable due to the first connector being driven backward unconditionally.

Charging apparatus

Growing community of inventors

Wako, Japan

Norio Neki