Honda Motor Co., Ltd.

The University of Tokyo

Yohei Kakiuchi

Masao Kanazawa

Masayuki Inaba

Kei Okada

Shunichi Nozawa

Yoshiki Kanemoto

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

Yohei Kakiuchi