Honda Motor Co., Ltd.

The University of Tokyo

Mujin, Inc.

Shunichi Nozawa

Masao Kanazawa

Masayuki Inaba

Kei Okada

Yohei Kakiuchi

Rosen Nikolaev Diankov

Yoshiki Kanemoto

Aditi Pandya

A system and method for operating a robotic system to dynamically adjust a planned trajectory or a planned implementation thereof is disclosed. The robotic system may derive updated waypoints to replace planned waypoints of the planned trajectory for implementing a task. Using the updated waypoints, the robotic system may implement the task differently than initially planned according to the planned trajectory.

Robotic system with dynamic motion adjustment mechanism and methods of operating same

An arithmetic processing unitestimates a possible existence region of a specific state quantity by performing polyhedron projection processing for finding a projection region obtained by projecting a convex polyhedron to a subspace representing the specific state quantity, where the convex polyhedron is within a space configured with the contact reaction forces of a plurality of contacting portions () of a mobile robotand the specific state quantity as variable components and where the convex polyhedron is specified by a mechanical relation between the contact reaction forces and the specific state quantity and by a linear inequality representing a contact reaction force constraint condition.

Device and method for estimating possible existence region of specific state quantity of mobile robot

A controllerfor a mobile robotestimates, in a climbing up or down motion of the robot, the difference between the actual position and attitude of a distal end portionof a to-be-supported movable linkthat has been supported by a structure A and the desired position and attitude thereof, and determines a motion target of the robotsuch that at least either the desired relative position/attitude of the distal end portionof the to-be-supported movable linkwith respect to a base bodyor the desired support position/attitude of the distal end portionof a to-be-moved movable link, which is to be moved, is adjusted according to the estimated value of the difference.

Controller for mobile robot

Growing community of inventors

Tokyo, Japan

Shunichi Nozawa