Honda Motor Co., Ltd.

Shigeru Kanzaki

Masanori Takeda

Takumi Kamioka

Mitsuhide Kuroda

Takahide Yoshiike

Masao Kanazawa

A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form. Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.

Robot and control system

A gait generating deviceincludes a desired particular-site motion velocity value determining unitthat uses a quadratic evaluation function having a particular-site motion velocity vector &#x2191;Vb as a variable and a linear matrix inequality having &#x2191;Vb as a variable to sequentially determine, as a desired value &#x2191;Vb_cmdof &#x2191;Vb, a value of &#x2191;Vb that can minimize the value of the evaluation function within a range in which a restriction condition that the linear matrix inequality holds is satisfied, by arithmetic processing according to a solution method for a quadratic programming problem. The device then integrates &#x2191;Vb_cmdto sequentially determine desired values of the position and posture of the particular site (the body)of the robot. The linear matrix inequality is set to satisfy a condition restricting the operations of the joints between the particular siteand the distal portion of each leg link

Gait generating device for legged mobile robot and operational target generating device for robot

Provided is a control system and the like capable of deriving at high speed a solution to the optimization problem of combinations of continuous state variable and discrete state variables. According to the control system, by setting a search range (first search range) of internal action candidates afor an internal module modsmaller than a search range (second search range) of external action candidates afor a low-frequency external module modthe arithmetic computing speed is accelerated accordingly. Thereby, when it is necessary for a robot R to cope with a disturbance emergently on the basis of measured state values of the robot R, the operation of robot R can be controlled according to the arithmetic computing result from the high-frequency internal module modwithout waiting for the arithmetic computing result form the low-frequency external module mod

Provided is an optimization control system in an attempt to improve searching accuracy of an optimal solution defining a behavior mode for a control subject. A plan storing elementis configured to obtain a current update result of a joint probability distribution p(u, x) on the basis of a current update result of a probability distribution p(x) from a state estimating elementand a current update result of the conditional probability distribution p(u|x) from a behavior searching element. The behavior searching elementis configured to determine the conditional probability distribution p(u|x) as a current basis for obtaining the current update result of the conditional probability distribution p(u|x) on the basis of the current update result of the probability distribution p(x) from the state estimating elementand a previous update result of the joint probability distribution p(u, x) from the plan storing element

Growing community of inventors

Wako, Japan

Shigeru Kanzaki