Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

University of Massachusetts

Takahide Yoshiike

Toru Takenaka

Takashi Matsumoto

Kazushi Akimoto

Hiroshi Gomi

Yoichi Nishimura

Kazushi Hamaya

Yoshinari Takemura

Shinya Shirokura

Masanori Takeda

Taro Yokoyama

Minami Asatani

Tomoki Watabe

Hiroyuki Kaneko

Atsuo Orita

Mitsuhide Kuroda

Christopher Garry

Susumu Miyazaki

Ryusuke Ishizaki

Koji Kawabe

Hironori Waita

Tsukasa Sugino

Takumi Kamioka

Masao Kanazawa

Takashi Nakayama

Frank Charles Sup, Iv

Taku Osada

Shigeru Kanzaki

Ryuma Ujino

Mark A Price

Shintarou Fujita

Soumitra P Sitole

A touch sensation sensor is mounted to a hand part of a robot and includes: an obtaining means, obtaining at least one of visual sensation information, which is target object information relating to a target object operated by using the hand part, and touch sensation information, which is the target object information at a time when the target object operated by using the hand part is gripped; and a control device, changing a sensitivity mode of the touch sensation sensor in accordance with the target object information that is obtained.

Touch sensation sensor, sensitivity switching circuit, and sensitivity switching method

An operation system and an operation method that may improve operability are provided. The operation system includes a circuitry configured to determine a predicted value of an operator motion after a predetermined prediction latency from a current time based on a bio-signal using a prescribed machine learning model, the bio-signal captured from the operator and a controller configured to control a motion of a robot based on the predicted value. The operation method includes a step of determining a predicted value of an operator motion after a predetermined latency from the current time based on a bio-signal using a prescribed machine learning model, the bio-signal captured from the operator, and a step of controlling a motion of a robot on the predicted value.

Operation system and operation method

An operation system including: a prediction unit configured to determine a predicted value of a motion of an operator at a prediction time that is a time after elapse of a prediction time interval from the present using a predetermined machine learning model from a biomedical signal of the operator; a control unit configured to control a motion of a robot on the basis of the predicted value; and a prediction time setting unit configured to determine the prediction time interval on the basis of a delay time from a current value of the motion of the operator to the motion of the robot.

An arm link () is rotatably coupled to an upper base body () around a yaw axis through a shoulder joint mechanism (). A fulcrum P of rotation of the arm link () is located within a range of widths of the upper base body () in a vertical direction and a horizontal direction of the upper base body ().

Robot having a base body, a shoulder joint mechanism assembly, and a movable link coupled to the base body through the shoulder joint mechanism assembly

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

In a legged mobile robothaving legs, a first landing permissible region and a second landing permissible region for a desired landing position of a distal end portion (a foot) of a free leg are determined, and the desired landing position of the free leg foot is determined in a region where the first and second landing permissible regions overlap each other, to thereby generate a desired gait of the robot. The first landing permissible region is determined so as to satisfy a geometric leg motion requisite condition. The second landing permissible region is determined such that a motion continuity requisite condition and a floor reaction force element permissible range requisite condition that are related to a prescribed floor reaction force element as a constituent element of the floor reaction force can be satisfied.

Control device for legged mobile robot

A desired motion determiner of a control unit of a legged mobile robot determines a leg motion parameter specifying the motion trajectory of a distal end of a leg of the robot on the basis of the information on a floor geometry of an environment in which the robot travels and a requirement related to a travel route of the robot, thereby sequentially determining the desired motion of the robot. A floor geometry information output unit which outputs floor geometry information to the desired motion determiner outputs floor geometry information in which a rising surface of a stepped portion of a predetermined type, the contact thereof with a leg of the robot should be avoided, has been shaped into a surface having a gentler slope than an actual rising surface. The desired motion determiner determines the leg motion parameter such that the leg will not come in contact with the stepped portion having the shaped rising surface.

Control device for legged mobile body

A control device for a legged mobile robot has a unit which generates the time series of a future predicted value of a model external force manipulated variable as a feedback manipulated variable for reducing the deviation of the posture of the robot. A desired motion determining unit sequentially determines the instantaneous value of a desired motion such that the motion of the robot will reach or converge to a reaching target in the future in the case where it is assumed that the time series of an additional external force defined by the time series of a future predicted value of the model external force manipulated variable is additionally applied to the robot on a dynamic model.

A control device for a legged mobile robot has a first motion determiner which sequentially determines the instantaneous value of a first motion of a robot by using a first dynamic model and a second motion determiner which sequentially determines the instantaneous value of a second motion of the robot by using a second dynamic model, and sequentially determines a desired motion of the robot by combining the first motion and the second motion. A low frequency component and a high frequency component of a feedback manipulated variable having a function for bringing a posture state amount error, which indicates the degree of the deviation of an actual posture of the robot from a desired posture, close to zero are fed back to the first motion determiner and the second motion determiner, respectively.

A control device for a mobile body makes it possible to smoothly correct the deviation of an actual posture of a base body of a mobile body, which travels with the base body thereof moving up and down, from a desired posture of the base body while restraining an overshoot or an undershoot from occurring. To determine a required manipulated variable according to a feedback control law in order to converge a state amount deviation related to the posture of the base body of the mobile body to zero, the feedback gain of the feedback control law is determined by using the time series in a period from current time to predetermined time in the future in the time series of a desired inertial force of the mobile body or the base body. The required manipulated variable is determined by the calculation of the feedback control law on the basis of the determined feedback gain and an observed value of the state amount deviation.

Control device for mobile body

In a legged mobile robot, a pivoting motion of a foot () relative to a leg is controlled such that, from an intermediate time point in a period of departure of a leg from a floor to a starting time point of a period of landing of the leg on the floor, an angle (&#x3b8;) of inclination of the foot () of the leg relative to the floor surface gradually approaches zero. This eases impact to the foot of the leg at the time of landing on the floor and prevents a slip or spin of the sole, thereby enabling stable walking or running.

Legged mobile robot and control program

On the basis of at least a difference between a desired state amount related to a posture of a robotabout a vertical axis or a floor surface normal line axis and an actual state amount of the robotand a permissible range of a restriction object amount, namely, a vertical component of a floor reaction force moment or a component of the floor reaction force moment in a floor surface normal line direction to be applied to the robot, instantaneous values of a desired motion and a desired floor reaction force are determined such that a difference between a floor reaction force moment balancing with the desired motion on a dynamic model and a floor reaction force moment of the desired floor reaction force approximates the aforesaid difference to zero, while having the restriction object amount, which is associated with the desired floor reaction force, fall within the permissible range.

A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided. According to a robotin accordance with the present invention, a deformation amount (mechanism deformation amount) of a compliance mechanismthat occurs due to a desired floor reaction force of a foot (ground contacting portion)is determined, and the operation of a legis controlled such that the footlands onto a floor at a predetermined velocity in a vertical direction or in a direction perpendicular to the floor surface on the basis of a component of the mechanism deformation amount in the vertical direction or a component thereof in the direction perpendicular to the floor surface.

Legged mobile robot and control program for the robot

To generate a desired gait of a robotsuch that a permissible range of a predetermined component (a translational floor reaction force horizontal component or the like) of a floor reaction force acting on the mobile robot, a gait generating system for a mobile robot creates a provisional motion, which indicates a provisional value of a desired motion, and repeats processing for correcting the provisional motion by using a first dynamic model and a second dynamic model having a dynamic accuracy that is higher than that of the first dynamic model until a predetermined condition is satisfied, thereby obtaining a final corrected motion as the desired motion. Relative to the provisional motion and a corrected motion at each correction, a difference between a predetermined component of a floor reaction force produced on the second dynamic model and a predetermined component of a floor reaction force produced on the first dynamic model is determined as a floor reaction force error, and a change amount of the error at each correction is also determined. A corrected motion when the change amount has converged to zero is determined as the desired motion.

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Wako, Japan

Takahide Yoshiike