Honda Motor Co., Ltd.

Honda Research Institute Europe Gmbh

Tomoki Watabe

Minami Asatani

Hiroyuki Kaneko

Takahide Yoshiike

Masanori Takeda

Takumi Kamioka

Masao Kanazawa

Shinya Shirokura

Taro Yokoyama

Koji Kawabe

Tsukasa Sugino

Takashi Nakayama

Mitsuhide Kuroda

Yuichiro Kawaguchi

Taku Osada

Masahiko Osada

Chiaki Tanaka

Dirk Ruiken

Yutaka Takagi

Shintarou Fujita

Simon Manschitz

Yili Dong

A tele-operation assistance system includes: a motion acquisition unit configured to acquire information on a motion of an operator operating an end effector; an intention understanding unit configured to estimate a target object to be operated by the end effector and a task which is a method of operating the target object; an environmental situation determination unit configured to acquire environmental information of an environment in which the end effector is operated; and an operation amount determination unit determine an operation amount of the end effector. The operation amount determination unit estimates an operation distance to the target object based on information of the target object and the motion of the operator, determines an operation state of the end effector according to the estimated operation distance, and changes an input mode of an assistance to a tele-operation according to the operation state.

Tele-operation assistance system and tele-operation assistance method

A displacement manipulated variable determination sectionin a control devicefor a mobile robotdetermines, for each of contacting portionsof a plurality of movable links, a displacement manipulated variable for making a desired position and/or posture of the contacting portionordisplaced, by integrating, under a predetermined condition, a deviation between an observed value of an actual contact reaction force acting from an external object and a desired value thereof. The control devicecontrols an actuatorthat drives a corresponding joint, in accordance with the displacement manipulated variable determined and a reference operational goal for the mobile robot

Control device for mobile robot

A mobile robothas a lower base bodyand an upper base body, which is relatively rotatable with respect to the lower base body. The robotis configured to be capable of performing a travel motion in which the robottravels in a state wherein the front side of the upper base bodyis oriented to face the same direction as the front side of the lower base body, and a travel motion in which the robottravels in a state wherein the front side of the upper base bodyis oriented to face the same direction as the rear side of the lower base body. The middle portion of each of leg linkscan be bended toward either the front side or the rear side of the lower base body

Mobile robot

An operating environment information generating device is provided which estimates, upon contact of a mobile robot () with a surface portion of an external object, a position and posture of the contact surface on the basis of a posture state of the robot (), and, in the case where the degree of difference between the estimates and a position and posture of the surface portion of the external object indicated by environment information created based on measurement data by an external-object recognition sensor () is large, corrects the environment information at the contact location in such a way as to make the position and posture of the contact surface match the estimates.

Operating environment information generating device for mobile robot

A control device for a mobile robot capable of stabilizing the posture of the mobile robot while in motion is provided. A control unit () for a mobile robot () includes a required total floor reaction force central point position calculating unit which calculates a required total floor reaction force central point position (Pzmp() to Pzmp()) as a position of a total floor reaction force central point by using, as a factor, a first total floor reaction force center reference position (SP() to SP()) which is defined on the basis of a current time's supporting region (Sdto Sd), i.e. a smallest convex region including ground contact surfaces of current time's supporting limbs, and a next time's supporting region (Sdto Sd), i.e. a smallest convex region including ground contact surfaces of next time's supporting limbs.

A motion target generating apparatus calculates the time series of motion accelerations of a base bodyand the distal end portion of each of movable linksandof a robotat a plurality of times after a current time such that the value of a predetermined evaluation function is minimized in a range in which a joint motion constraint condition of each of the movable linksandof the robotis satisfied. Based on the calculated values of the motion accelerations at an initial time, new desired motion accelerations of the base bodyand the distal end portion of each of the movable linksandare determined. The desired value for controlling each joint of the robotis determined on the basis of the desired motion accelerations.

Motion target generating apparatus of mobile robot

A deviceincludes a floor surface information acquisition portionwhich acquires floor surface information in a plurality of local regions of a floor surface. The gait generatorof the devicesets the desired landing position and posture of a free legof a robotwithin one local region and determines a desired horizontal motion trajectory of the distal end of the free legto determine a desired vertical motion trajectory of the distal end of the free legso that the height of the distal end of the free legis equal to or higher than a lower-limit height determined to prevent a contact between the distal end of the free legand the floor surface of the local region at the positions of a plurality of sampling points on the desired horizontal motion trajectory.

Leg motion trajectory generation device for legged mobile robot

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

When there is an object that has a possibility to come into contact with a robotin a desired path, the robotis decelerated stepwise according to the distance L from the robotto a predicted contact position along the desired path. For example, legsand the like of the robotare so controlled that when the distance L is less than a first threshold L, the moving speed is reduced to a first speed V, and when the distance L is less than a second threshold lower than the first threshold, the moving speed is reduced from the first speed to a second speed.

Legged mobile robot

Disclosed is a space-saving autonomous mobile robot capable of switching two types of light irradiation appropriately. The robot includes a moving mechanism, an autonomous movement controller for controlling the moving mechanism, a self-location recognition unit for sensing a self-location of the robot, a map data storage unit for storing a map data on locations of marks, a slit light device for irradiating a detection area with slit light, an infrared device for irradiating a detection area with infrared rays, and a switch determination unit for comparing a mark-formed region and the self-location, and then, for switching between the slit light and infrared devices, based on the comparison result. Moreover, the infrared device irradiates the detection area when the self-location is within the mark-formed region, while the slit light device irradiates the detection area when the self-location is outside the mark-formed region.

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Saitama, Japan

Tomoki Watabe