Honda Motor Co., Ltd.

Showa Corporation

Shinya Shirokura

Toru Takenaka

Makoto Araki

Makoto Hasegawa

Shinichiro Kobashi

Hideo Murakami

Kazushi Akimoto

Kazumasa Ozaki

Takahide Yoshiike

Minami Asatani

Takashi Matsumoto

Yuichi Uebayashi

Hiroyuki Kaneko

Tomohiro Kawakami

Hiroshi Gomi

Kazushi Hamaya

Masanori Takeda

Hiroshi Iwakami

Tomokazu Sakamoto

Shinji Kawatani

Masakazu Kawai

Satoru Okoshi

Tomoki Watabe

Makoto Nakatsuka

Chiaki Tanaka

Masaki Goto

Katsushi Tanaka

Atsushi Matsunaga

Katsushi c/o Showa Corporation Tanaka

The control device () corrects a basic movement command for a mobile body (), which is based on an operator's maneuvering operation, in accordance with a positional relationship between the mobile body and an obstacle, and performs movement control of the mobile body () in accordance with the corrected movement command. The control device () is configured to correct the basic movement command, when a distance d between the obstacle and the mobile body () has become a predetermined value dor less, to cause a yaw rate in a direction away from the obstacle to be additionally generated on the mobile body (), and also configured to correct the basic movement command so as to cause a rate of increase in magnitude of the yaw rate with respect to a decrease of the distance to be increased as the distance d is closer to the predetermined value d

Control device for mobile body

The disclosure provides a control device capable of smoothly performing a turning operation due to an external force for a mobile body having a movement operation part and a seat part of occupant. A control device which performs a movement control of movement operation parts a mobile body estimates a movement rotational force in the yaw direction according to a movement of the mobile body and a rotational driving force in the yaw direction according to a driving forces of an actuator, and estimates an external force rotational force, which is a rotational force in the yaw direction due to an external force applied to the mobile body, based on these estimation values. A turning operation of the mobile body is performed according to an estimation value of the external force rotational force and a maneuver operation of the mobile body.

In a vehicle control system, a running controller () that executes running control of a vehicle without depending on a driving operation of a vehicle occupant and a running device () that is a control target of the running controller and outputs a predetermined signal to the running controller are included, and the running controller stops the running control of the vehicle in a case in which the predetermined signal has been blocked from the running device.

Vehicle control system, vehicle control method, vehicle control device, and vehicle control program

A control device () of a mobile body () calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction of a vehicle body () from a predetermined reference position with respect to the vehicle body (), and determines a control input for an actuator (), which can cause a moment in the roll direction to act on the vehicle body (), so as to increase the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value in a state of presence of such displacement. The control device () controls the actuator () in accordance with the control input.

Mobile body

A control device () of a mobile body () calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction from a prescribed reference position with respect to a vehicle body (), and determines a control input for an actuator () which can cause a moment in the roll direction to act on the vehicle body () so as to reduce the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value. The control device () controls the actuator () in accordance with the control input.

A device that can stably and accurately estimate the roll angle of a vehicle body during various states of movement of the vehicle body. A roll angle estimated value calculation portion calculates an estimated value of the roll angle by integrating a value obtained by correcting an estimated value of roll angle velocity of a vehicle body by use of a correction value, or by correcting a value obtained by integrating an estimated value of roll angle velocity by use of a correction value. The correction value is calculated by use of a detection value of speed of the vehicle body in the traveling direction, detection values of angular velocity and acceleration detected by sensors mounted on the vehicle body, a previous estimated value of the roll angle, and a previous estimated value of the pitch angle of the vehicle body.

Vehicle roll angle estimation device

An inverted pendulum type vehicle includes a control device for controlling a plurality of electric motors, and a portable device, such as a portable telephone, for displaying a center-of-gravity display point indicating the position of a center of gravity and outputting a command for moving the vehicle. The control device controls a first actuator device and a second actuator device so as to move the vehicle according to the command output from the portable device and the tilting of an occupant boarding member. Such inverted pendulum type vehicle makes it possible to learn how to steer the inverted pendulum type vehicle.

Inverted pendulum type vehicle

An inverted pendulum type vehicle configured to enable a user to control the vehicle by selecting a single control mode, even while other control modes are not selected. One control mode out of plural control modes of the vehicle is selected based on a detection result of an inclination state of an occupant riding section by an inclination sensor that is a fundamental constituent of the vehicle. Motion of a first actuator device and a second actuator device is controlled according to the one control mode selected.

An inverted pendulum type vehicle capable of dissipating the dissociation of vehicle steering intention of a user and a vehicle motion condition. When a base tilts toward a first designated direction, gravity center shift effect amount Vofs_x is corrected by a gravity center shift correction amount Vdep_x calculated according to the tilting amount. The gravity center shift correction amount Vdep_x with respect to a second designated direction is determined so as to increase as the tilting amount toward the first designated direction of the base. Further, the gravity center shift effect amount Vdep_x determined by tilting toward the first designated direction of the base is controlled to a threshold value or less.

Provided is an inverted pendulum type vehicle capable of properly estimating whether or not a rider is thereon and controlling the travel of the vehicle by reflecting the result of the estimation. An inverted pendulum type vehicle, in which a traveling unit is driven by electric motorsR,L, includes an occupied/unoccupied estimating unit (a first estimating unit), which estimates whether or not a rider is on the vehiclebased on the observation values of the energizing currents of the electric motorsR,L. A control unitcontrols the operations of the electric motorsR,L according to the estimation result of the estimating unit

An inverted pendulum type vehicle capable of improving consistency of the intention of an operator and the motion condition of the vehicle. When a low frequency component of an estimate value Vb_estm1_y of the translational speed in the Y-axis direction of a vehicle system center of gravity of the entirety deviates from a dead zone of a processing unit and movement of the waist of an operator is sudden enough to generate a high frequency component in Vb_estm1_y, a target turning angular velocity &#x3c9;z_cmd_gc is set to a positive value or a negative value depending on the deviation amount, and a turning suppression factor K&#x3c9;z is adjusted to 0. Therefore, motion of actuator devices of a vehicle is controlled so that turning of the vehicle is suppressed and the vehicle system center of gravity of the entirety is translated to +Y-axis direction.

An inverted pendulum type vehicle for improving the steering performance and the comfort of the vehicle. A control device of an inverted pendulum type vehicle including a moving motion unit driven by an actuator device controls the actuator device so that the position of the center of gravity of the entirety of an occupant riding on an occupant riding section and the vehicle is shifted from the position of a balance state in the request direction of movement of the center of gravity of the occupant recognized from a predetermined kind of state of the vehicle.

An inverted pendulum control type moving body is provided with: a first driving portion that moves a host moving body at least in a forward/backward direction; a supporting portion that supports the inverted pendulum control type moving body so that it stands independently in a state of being in contact with the ground; an operation portion that switches between the ground contact state and a ground separation state of the supporting portion; and a control portion that, when the operation portion switches the state of the supporting portion from the ground contact state to the ground separation state, controls operation of the first driving portion so that a forward/backward direction tilt angle of the inverted pendulum control type moving body approximates a target tilt angle in the ground contact state.

Inverted pendulum control type moving body

An inverted pendulum type vehicle enabled to easily execute a turning motion with a configuration of a low cost. An inverted pendulum type vehicle includes a second moving motion unit disposed with an interval from a first moving motion unit and configured to be capable of moving in all directions on a floor surface. A brake device is configured to be capable of generating a brake force imparted to the second moving motion unit. A control unit is provided for determining the presence/absence of a request for turning motion of the vehicle, and, when there is a request for the turning motion, to control the motion of the brake device so as to impart a braking force to the second moving motion unit.

A control device for a bipedal mobile robot generates a desired motion of a bipedal mobile robot. When causing the robot to perform a one-leg hopping operation, a desired motion of the robot is generated such that the proximal end portion of a free leg of the robot is positioned at a relatively higher level than the proximal end portion of a supporting leg thereof in the state wherein the supporting leg has landed on a floor after leaving from the floor and such that the horizontal distance between the total center-of-gravity point of the robot and the proximal end portion of the supporting leg in the aforesaid state is shorter than the horizontal distance therebetween in a state wherein the robot is standing in an upright posture.

Growing community of inventors

Wako, Japan

Shinya Shirokura