Honda Motor Co., Ltd.

Takahiro Kuroki

Minami Asatani

Satoki Matsumoto

Chiaki Tanaka

Itoshi Naramura

Sunao Hayashi

A second processing unit (), which receives a first count value N1 transmitted in a predetermined reference cycle Δt1 from the first processing unit (), has a second counter () which outputs a second count value N2 in a cycle Δt2 shorter than the reference cycle Δt1. The second count value N2 is initialized in response to reception of the first count value N1. The second processing unit () associates time determined according to the first count value N1 and the second count value N2 with generated or acquired second data (external measurement data).

Control processing device

Robotincludes an upper base body, and a control sectionprovided inside the upper base body. The control sectioncauses measurement sectionto rotate in a left-right direction around yaw axis, by driving each drive sectionof two LRFs. When passage width necessary for the robotto pass through is W, the control sectioncauses each measurement sectionto rotate in a range (W/2), by driving each drive sectionof the two LRFs. LRF scanning speed/range calculation sectioncalculates rotation angle &#x3b8;swing and a rotation speed Vswing of the measurement section. The control sectiondrives the drive sectionsso as to cause the measurement sectionto rotate at the rotation angle &#x3b8;swing and the rotation speed Vswing calculated by the LRF scanning speed/range calculation section

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Saitama, Japan

Takahiro Kuroki