Waseda University

Toyota Jidosha Kabushiki Kaisha

Xela Robotics Co., Ltd.

Honda Motor Co., Ltd.

Omron Corporation

Shigeki Sugano

Alexander Schmitz

Hiroyasu Iwata

Kentaro Ichikawa

Taisuke Sugaiwa

Yoshihiro Sakamoto

Wei Wang

Tito Pradhono Tomo

Sophon Somlor

Toshiki Kindo

Kunihiro Iwamoto

Xiaoguang Ning

Chyon Hae Kim

Tomohiro Wada

Chincheng Hsu

Kento Kobayashi

Shota Yamazaki

Javier Alvarez Lopez

Yushi Wang

Soumya Bhavaraju

Gonzaro Aguirre Dominguez

Alexis Carlos Holgado

Ritsuki Sato

In the present invention, contact between an operator and a robot that moves a workpiece is avoided, and an effect on an article is reduced. This robot controller (), which controls the operation speed of a robot () that moves a workpiece (), comprises: a prediction unit () that predicts contact from the position of a robot and the position of a person or object; and an acceleration change unit () that, when contact is predicted by the prediction unit, changes the acceleration at which the speed of the robot is reduced to perform an emergency stop in accordance with the presence of the workpiece.

Control device and control method

A detection deviceaccording to the present invention is provided with a calibration meansthat specifies a relational expression between an output value from a force sensorwhen an external force is applied and the magnitude of the external force. The relational expression contains a formula that includes a predetermined parameter and with which it is possible to calculate, according to an offset value obtained as the output value when the sensor is free of contact and not acted upon by the external force, the magnitude of the external force from the actual output value. The calibration meansis provided with a function derivation unitthat derives a function for calculating the parameter value from the offset value, and a parameter value determination unitthat uses the function to determine the parameter value. The function derivation unitgenerates the function from the output value when a known external force is applied and an offset value from a preceding step, and the parameter value determination unitcalculates the parameter value from the offset value acquired in a state in which the force sensoris disposed on a predetermined site where the external force is to be measured.

Detection device and sensor calibration method

A magnetic sensing systemaccording to the present invention is provided with a sensing devicethat generates an electrical signal according to the strength of a magnetic field that changes in response to the action of an external force, and a detection devicethat detects a physical quantity associated with the action of the external force from a change in the magnetic field based on the electrical signal from the sensing device. The sensing deviceincludes magnetic field generation meansandthat generate a desired measurement magnetic field of different strengths from a site that is displaced by the action of the external force, and a magnetic field measurement meansthat measures the strength of a surrounding magnetic field including the measurement magnetic field. The detection deviceuses a relational expression stored in advance to specify, on the basis of fluctuations over time in the measurement magnetic field of different strengths, a magnetic interference amount corresponding to the strength of an interference magnetic field generated separately from the measurement magnetic field, and calculates the physical quantity by removing the influence of the magnetic interference amount.

Magnetic sensing system, detection device, and magnetic interference offset method

A torque limiterincludes an input unitconnected to a driving device M on input side, and an output unitconnected to a robot arm A on output side. The input unitand the output unitinclude a coupling structure in which the input unitand the output unitapproach and recede from each other so as to enable switching of a connecting state where the input unitand the output unitare connected to each other and a non-connecting state where the input unitand the output unitare not connected to each other, through adjustment of magnetic force therebetween. The coupling structure includes an electromagnetthat enables adjustment of the magnetic force through adjustment of an application voltage.

Torque limiter

A control system () according to the present invention includes a robot arm () provided in a manner capable of moving in a given space, a motor () for operating the robot arm (), a torque adjustment device () for operating in a manner capable of adjusting a transmitted torque that is transmitted from the motor () to the robot arm (), and a control device () for performing operation control of the robot arm (). The robot arm () is provided with a gravity-compensating mechanism () for cancelling an effect of gravity due to the robot arm (), and the control device () commands adjustment of the transmitted torque at the torque adjustment device (), without taking into account the effect of the gravity of the robot arm ().

Robot arm control system

Disclosed is a mobile body which plans an avoidance operation of the mobile body and an expected avoidance operation which is expected of a mobile obstacle, thereby improving efficiency of the avoidance operation. A mobile body () which moves along an operation target includes mobile obstacle detection means () and () for detecting a mobile obstacle in the vicinity of the mobile body (), approach determination means () for determining whether or not the mobile obstacle and the mobile body approach each other within a predetermined interval, and operation planning means () for, when the approach determination means () determines that the mobile obstacle and the mobile body () approach each other within the predetermined interval, planning the avoidance operation of the mobile body () and an expected avoidance operation which is expected of the mobile obstacle.

Mobile body

A trajectory planning method according to the present invention is one for obtaining a trajectory for controlling a state of an object toward a goal state by a trajectory planning system. The method includes the steps of dividing, by a cell generating section for dividing a state space of the object into cells, the state space into cells in such a way that approximation error due to discretization is minimized for a predetermined number of cells; generating, by a search tree generating section, a search tree which corresponds to state transition of the object in such a way that each cell does not contain more than one of nodes of branches of the search tree; and determining, by a trajectory generating section, a path from the current state to the goal state of the object using the search tree.

Trajectory planning method, trajectory planning system and trajectory planning and control system

A robotic device includes a first link portion, a second link portion that moves relative to the first link portion, a first contact load detecting portion that detects a contact load in a contact area of the first link portion, a second contact load detecting portion that detects a contact load in a contact area of the second link portion, and a first link portion control target setting portion that sets a control target for the first link portion. The first link portion control target setting portion sets the control target for the first link portion such that the difference between the detection value of the contact load of the first contact load detecting portion and the detection value of the contact load of the second contact load detecting portion decreases.

Robotic device

It is intended to feed back any somatic sensation information on given body surface portion in easily understandable form without the use of special sensations, such as visual and auditory sensations. Walking rehabilitation supporting apparatus () comprises sensation detection unit () for detecting the sole pressure of patient (H); sensation presentation unit () for imparting given stimuli to the patient (H); and control unit () for controlling the behavior of the sensation presentation unit () so as to impart stimuli corresponding to the sole pressure detected by the sensation detection unit (). The sensation detection unit () is disposed so as to be capable of detecting the sole pressure on a paralyzed side, and the sensation presentation unit () is fitted to a body surface portion of sensation superior to that of the sole.

Sensation detection presentation apparatus and walking rehabilitation supporting apparatus

Growing community of inventors

Tokyo, Japan

Shigeki Sugano