Toyota Jidosha Kabushiki Kaisha

Kabushiki Kaisha Toyota Chuo Kenkyusho

Tohoku University

Sony Interactive Entertainment Inc.

Takahiro Nakayama

Motohiro Fujiyoshi

Hitoshi Yamada

Yutaka Nonomura

Masayoshi Esashi

Shuji Tanaka

Ui Yamaguchi

Mitsutoshi Makihata

Masanori Muroyama

Yoshiyuki Hata

Kazuhiro Mima

Yoshiteru Omura

Sakae Matsuzaki

Yusuke Kida

Hirofumi Funabashi

Daisuke Nakata

Hiroshi Bito

Tetsuya Taira

Teruhisa Akashi

Norimasa Kobori

Yu Sasaki

Yoshihiro Okumatsu

Koji Terada

Hiroki Izu

Hiroshi Bitoh

Takahiro Toda

Virtual mobility robot

A sensor unit includes at least three kinesthetic-sense sensors arranged along a plane, each including a first force-receiving part configured to receive an external force. The sensor unit includes a connecting member including a second force-receiving part configured to receive an external force, configured to transfer the external force received by the second force-receiving part to each first force-receiving part and connecting the first force-receiving parts with each other. The sensor unit includes an output unit configured to output signals corresponding to a pressing force in an orthogonal-axis direction orthogonal to the plane and pressing forces in two axial directions parallel to the plane, respectively, the pressing forces being components of divided forces of the external force received by the second force-receiving part, received by the respective first force-receiving parts through the connecting member.

Sensor unit, sensor system, robot hand, robot arm, server device, calculation method, and program

Provided is a manipulator including: a link; a joint unit configured to rotate the link; and a distance sensor configured to detect an obstacle entering in a monitoring space that is determined so as to include at least a rotating direction side of the link, the distance sensor being installed so that a sensing direction faces a direction parallel to a surface of the link. Further, provided is a moving robot including the aforementioned manipulator.

Manipulator and moving robot

A program writing method in which a program is written into a flash ROM that a microcomputer includes therein includes: a generating step for generating a version representative value indicating a version of a source directory from predetermined types of files included in the source directory; an additionally writing step for additionally writing the version representative value into a source file included in the source directory; and a program writing step for writing a program corresponding to the source directory generated by compiling the source file into which the version representative value has been additionally written into the flash ROM.

Program writing method, control method of apparatus, program for program writing, and control program of apparatus

A posture angle calculation apparatusincludes an acquisition unitconfigured to acquire an output of an acceleration sensorinstalled to output acceleration of a moving apparatus that moves along a moving surface in a vertical axis direction with respect to the moving surface and to acquire an output of a gyro sensorinstalled to output an angular velocity about the vertical axis. The posture angle calculation apparatusfurther includes a calculation unitconfigured to assume, when the acceleration is larger than reference acceleration Rg, and the angular velocity is smaller than a preset reference angular velocity Rw, the angular velocity &#x3c9;is zero and calculate a posture angle of the moving apparatus about the vertical axis. The posture angle calculation apparatusfurther includes an output unitconfigured to output data of the calculated posture angle.

Posture angle calculation apparatus, moving apparatus, posture angle calculation method, and program

A master node acquires a point group, each point of which belongs to any one of a plurality of blocks into which a space has been divided, the point group representing an appearance of the space by a collection of a plurality of points. The master node determines a priority of each of the plurality of blocks on the basis of the number of points belonging to each of the plurality of blocks. The master node preferentially performs processing of higher priority blocks among the plurality of blocks than processing of lower priority blocks.

Data processing apparatus, data processing method, and computer program

Provided is a storage device including: a first storage region comprising a plurality of sensor regions for the plurality of the sensors; a second storage region into which a data set is written, the data set being generated by reading, from the respective plurality of sensor regions, sampling data of a sensor having a longest sampling period among the plurality of sensors for one period and sampling data of other sensors for a period corresponding to the period in which the sampling data of the sensor for the one period is generated and integrating the sampling data; and a control unit configured to write the sampling data of the plurality of sensors into the plurality of sensor regions, respectively, in a ring buffer format and generate the data set at a predetermined timing and write the data set into the second storage region in the ring buffer format.

Storage device, mobile robot, storage method, and storage program

A sensor system includes a substrate with a reference plane, a plurality of kinesthetic-sense sensors disposed on the substrate, each of the plurality of kinesthetic-sense sensors being configured to output signals of three axial directions corresponding to an orthogonal-axis direction orthogonal to the reference plane and two axial directions parallel to the reference plane, respectively, according to an external force from an object received at a force receiving part, a control unit configured to determine whether or not a value of each of the signals is larger than a predetermined threshold, and calculate a pressing force in the orthogonal-axis direction or a moment around the orthogonal axis received from the object based on a result of the determination, and an output unit configured to output a result of the calculation.

Sensor system for calculating pressing force or moment based on signals output by kinesthetic-sense sensors, robot hand including the sensor system, and method for calibrating the sensor system

A sensor system according to the present disclosure includes a substrate, a force sensor, a calculation unit, and an output part. The substrate includes a reference plane and an inclined surface. The force sensor is provided on the inclined surface and outputs signals in three-axis directions that correspond to an orthogonal axis direction that is orthogonal to the inclined surface and two-axis directions that are parallel to the reference plane. The calculation unit calculates a pressing force in each coordinate axis direction of rectangular coordinates formed of an axis vertical to the reference plane and two axes parallel to the reference plane and moments around the respective coordinate axes of the rectangular coordinates. The output part outputs calculation results.

Sensor system and robot hand

A coolant tank includes: a tank main body configured to store a coolant discharged from a processing machine; a vortex flow generator that creates a vortex flow of the coolant in the tank main body; and a float configured to float on a liquid surface of the coolant stored in the tank main body. An outer peripheral portion of the float has a shape conforming to a shape of an inner peripheral wall surface of the tank main body and forming a gap between the outer peripheral portion and the inner peripheral wall surface.

Coolant tank

A plurality of drawing nodesdraw, in parallel, a plurality of individual images to be displayed in a plurality of individual regions obtained by dividing a frame display region. A display control nodegenerates a synthetic image obtained by synthesizing together the plurality of individual images drawn by the plurality of drawing nodesand causes the synthetic image to be displayed on a display device. In the case where the individual image of at least one individual region is delayed at a frame processing timing, the display control nodegenerates a synthetic image as an individual image of that individual region by applying the individual image of the previous frame.

Image processing system, image processing method, and computer program

A charging system that includes a charging device and a secondary battery device with improved safety is provided. When the secondary battery device has been connected to a charging terminal of the charging device, a DC voltage for inspection is supplied from a DC power supply unit to the charging terminal to detect a DC signal by a DC signal detection unit, and an AC voltage for inspection is supplied from an AC power supply unit to the charging terminal to detect an AC signal by an AC signal detection unit. The secondary battery device is started to be charged only when the value of the DC signal falls within a reference range defined by a resistance value of the secondary battery device and the value of the AC signal falls within a reference range defined by an impedance value of the secondary battery device.

Charging system

An inverted two-wheel vehicle includes: an inverted two-wheel vehicle body; an acceleration sensor and a gyro sensor which are mounted on the same substrate; and an ECU. The ECU calculates a mounting angle error of the acceleration sensor with respect to the inverted two-wheel vehicle body based on an output value of the acceleration sensor obtained when the inverted two-wheel vehicle is brought into a stationary state in a state where a reference yaw axis of the inverted two-wheel vehicle is made coincident with a vertical direction, and corrects an output value of the gyro sensor by using the mounting angle error of the acceleration sensor with respect to the inverted two-wheel vehicle body as a mounting angle error of the gyro sensor with respect to the inverted two-wheel vehicle body.

Sensor calibration method for vehicle

An integrated device with high insulation tolerance is provided. A groove having an inclined side surface is provided between adjacent devices. When a side where an electronic circuit or MEMS device is mounted is a front surface, the groove becomes narrower from the front surface to a back surface because of the inclined surface. A mold material (insulating material) is disposed inside the groove, so that the plurality of devices are mechanically joined together, being electrically insulated from one another. A line member that establishes an electrical conduction between the adjacent devices is formed to lie along the side surface and the bottom surface of the groove. To lead the line out to the backside, the bottom surface of the groove has a hole, so that the line member is exposed to the backside from the hole.

Integrated device

An inverted vehicle comprises a first sensor that detects an angular speed around an axis inclined from a pitch axis by a first predetermined angle, a second sensor that detects an angular speed around an axis inclined from the pitch axis by a second predetermined angle, a third sensor that detects an angular speed around the pitch axis, an acceleration detection unit that detects accelerations along the axes, and a control unit that performs the inversion control based on the detected angular speeds. A control unit puts a specific safety function in motion based on a mutual relation among a first angular speed around the pitch axis calculated based on the angular speeds detected by the first and second sensors, a second angular speed around the pitch axis detected by the third sensor, and a third angular speed around the pitch axis calculated based on the detected accelerations.

Growing community of inventors

Nagoya, Japan

Takahiro Nakayama