Honda Giken Kogyo Kabushiki Kaisha

Honda Motor Co., Ltd.

Yuki Kougaku Co., Ltd.

Yoichi Nishimura

Yusuke Hasegawa

Shusuke Akazaki

Hidetaka Maki

Isao Komoriya

Toshiaki Hirota

Toru Takenaka

Hiroshi Gomi

Kazushi Akimoto

Takashi Matsumoto

Takahide Yoshiike

Kazushi Hamaya

Yoshinari Takemura

Taro Yokoyama

Eisuke Kimura

Hiroyuki Makino

Shunichi Nakabayashi

Kenji Muto

Taihei Setoguchi

Naoyuki Saito

Keisuke Koitabashi

Yuji Yasui

Shigetaka Kuroda

Kazutomo Sawamura

Hiroshi Kitagawa

Toru Kitamura

Yasushi Ikeuchi

Masaki Kanehiro

Jun Ashihara

Takeshi Koshiishi

Shigeru Maruyama

Takuji Ishioka

Hiroshi Kudoh

Kei Machida

Tomoyuki Kamiyama

Yoshihisa Matsuoka

Yutaka Hiki

Yoshiaki Sakagami

Tatsuya Noda

Hiroshi Matsuda

Hiroshi Ohno

Keisuke Korekado

Akira Katoh

Hiroki Munakata

Yuuichi Shimasaki

Kenichiro Ishii

Makoto Shishido

Eiji Ninomiya

Toru Fujihira

Satoru Abe

Kenji Kadowaki

Shushuke Akazaki

Ryuzo Yokoyama

In a mobile vehiclehaving a vehicle body, a front wheel, and a rear wheel, the steering control wheelcan be steered by a steering actuatorabout a steering axis Csf which is tilted backward. The steering actuatoris controlled by a control device. The height a, from a ground surface, of the intersection point Ef of the steering axis Csf of the steering control wheeland a virtual straight line connecting the ground contact point of the steering control wheeland the center of axle of the steering control wheelin a basic posture state of the mobile vehicleis set to satisfy a prescribed condition.

Mobile vehicle

Disclosed is a solid-state imaging device capable of calculating the difference in charge obtained by photoelectric conversion, and capable of a high level of integration. A solid-state imaging device is provided with an AD converter which is provided with: a first comparator which outputs a signal corresponding to a first analog signal of a first pixel by comparing said first analog signal with a reference voltage supplied from the reference voltage generation unit which generates a reference voltage which gradually changes; a second comparator which outputs a signal corresponding to a second analog signal of a second pixel by comparing said second analog signal with the reference voltage supplied by the reference voltage generation unit; a difference circuit which finds the difference between the signal corresponding to said first analog signal and the signal corresponding to said second analog signal and outputs a difference signal; and a counter circuit which counts the number of pulses in a pulse sequence corresponding to the aforementioned difference signal and converts said difference signal into a digital signal.

Solid-state imaging device

Provided is a walking assist device including a seat member, a leg link having a joint portion, and a driving source for the joint portion. The walking assist device allows a user to rest by sitting on the seat member. Accordingly, the walking assist device further includes a lock mechanism disposed in the joint portion and an operation unit for the lock mechanism. When the operation unit is switched on, the driving source is controlled to increase an up-pushing force on the seat member. A variation rate on the up-pushing force is increased with time to a given value where the lock mechanism is initiated.

Walking assist device

An optical device ensuring projection of light over a wide range as well as reduction in size, and a mobile apparatus mounted with the optical device are provided. The optical device () includes a light-projecting unit () and a light-receiving unit (). The light-projecting unit () has a projector () and a lenticular sheet () arranged in layers. First and second cylindrical lens arrays having their generatrices orthogonal to each other are formed on the respective surfaces of the sheet (). The light-receiving unit () has a light-receiver (). The light-projecting unit () and the light-receiving unit () are arranged adjacent to each other in an integrated manner so that the light-receiver () can sense the light emitted from the projector () via the sheet () and then reflected from an object.

Optical device and mobile apparatus

A landing shock absorbing devicedisposed in a foot mechanismof a leg of a robot, wherein an inflatable bag-like member(variable capacity element) is provided at a bottom face side of the foot mechanism. The bag-like memberis constructed of an elastic material such as rubber. The air in atmosphere may flow into and out of the bag-like memberby inflow/outflow meansequipped with a solenoid valve, and the like. In a lifting state of the foot mechanism, inflow of the air into the bag-like memberis controlled, thereby controlling the final height of the bag-like memberin an inflated state to the height in response to a gait type of the robot. While properly reducing an impact load during a landing motion of the leg of a legged mobile robot depending on the gait type of the robot, stability of a posture of the robot may easily be secured, resulting in allowing a configuration to be lighter in weight.

Device for absorbing floor-landing shock for legged mobile robot

A landing shock absorbing devicedisposed in a foot mechanismof a leg of a robot, wherein an inflatable bag-like member(a variable capacity element) is provided at a ground-contacting face side of the foot mechanismThe bag-like memberis constructed of an elastic material such as rubber and has a restoring force. An interior portion of the bag-like memberis communicated with the atmosphere side through a flow passageDuring a landing motion of the leg, the bag-like membermakes contact with the ground to be compressed, and the air in the interior portion thereof flows out into the atmosphere through the flow passageso that its outflow resistance is generated. Accordingly, a landing shock is reduced. In a lifting state of the leg, the restoring force of the bag-like memberallows the bag-like memberto be inflated while the air flows into the interior portion thereof. An impact load during the landing of the leg of the legged mobile robot may smoothly be reduced in a light-weight configuration.

A landing shock absorbing deviceprovided in a foot mechanismof a leg of a robot comprises an inflatable and compressible bag-like member(a variable capacity element) on a bottom face side of the foot mechanism. The bag-like memberis constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like memberby inflow/outflow meansprovided with a solenoid valveand the like. In a landing state of the foot mechanismand in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valveis closed to maintain the bag-like memberin a compressed state. Furthermore, during the bag-like memberin the inflating state during the lifting state of the foot mechanism, by controlling timing when the solenoid valveis switched from a valve opening state to a valve closing state, a height of the bag-like memberin a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.

An assist device that applies an auxiliary driving force to a joint in parallel with a driving force of a joint actuator between a thigh portion and a crus portion, which are a pair of link members of a leg. The assist device generates the auxiliary driving force by use of spring device, such as a solid spring or an air spring. A member supporting a rod member connected to the spring device is provided with a device for transmitting a bending and stretching motion of the leg at the joint (a relative displacement motion between the thigh portion and the crus portion) to the spring device to generate an elastic force of the spring device, and for discontinuing the transmission of the bending and stretching motion to the spring device. This transmitting device is controlled in accordance with a gait of a robot. Thus, a burden on the joint actuator is reduced where necessary and favorable utilization efficiency of energy can be stably ensured.

Leg joint assist device for leg type movable robot

A fuel metering control system for an internal combustion engine having a plurality of cylinders. The system includes an air/fuel ratio sensor and engine operating condition detecting means for detecting engine operating conditions such as engine speed and engine load. The basic quantity of fuel injection is determined by retrieving mapped data according to the detected parameters. A plurality of controllers are provided all using outputs of the air/fuel ratio sensor. The controllers are configured to receive the sensor outputs through filters having different cutout frequency so as to avoid control interference therebetween.

Fuel metering control system for internal combustion engine

A cylinder-by-cylinder air-fuel ratio-estimating system for an internal combustion engine includes an air-fuel ratio sensor arranged in the exhaust system of the engine, at a confluent portion of the exhaust system. The air-fuel ratio of a mixture supplied to each of the cylinders is estimated based the output from the air-fuel ratio sensor, by using an observer for observing the internal operative state of the exhaust system based on a model representative of the behavior of the exhaust system. The air-fuel ratio at the confluent portion is estimated by using a delay parameter representative of the response delay of the air-fuel ratio sensor, and the air-fuel ratio of the mixture supplied to each of the cylinders is estimated by using the estimated air-fuel ratio at the confluent portion. The estimated air-fuel ratio of the mixture supplied to each of the cylinders is subsequently used for estimating a value of the air-fuel ratio at the confluent portion of the exhaust system.

Cylinder-by-cylinder air-fuel ratio-estimating system for internal

A fuel metering control system for an internal combustion engine having a plurality of cylinders. The system includes an air/fuel ratio sensor and engine operating condition detecting means for detecting engine operating conditions at least including engine speed and engine load. The basic quantity of fuel injection is determined by retrieving mapped data according to the engine speed and engine load. An adaptive controller is provided to calculate a first feedback correction coefficient to correct the quantity of basic fuel injection such that the detected air/fuel ratio is brought to a desired value, and second feedback loop is provided for calculating feedback correction coefficients to correct the quantity of fuel injection. The desired air/fuel ratio is corrected by a second air/fuel ratio installed downstream of a catalytic converter.

An air-fuel ratio control system for an internal combustion engine has a first air-fuel ratio sensor arranged in an exhaust passage at a location upstream of a catalyst and a second air-fuel ratio sensor arranged in the exhaust passage at a location downstream of the catalyst. In response to an output from the first air-fuel ratio sensor, an air-fuel ratio correction coefficient is calculated for correcting an amount of fuel supplied to the engine in a manner such that an air-fuel ratio of a mixture supplied to the engine is converged to a desired air-fuel ratio. In response to an output from the second air-fuel ratio sensor, a desired air-fuel ratio correction amount is calculated for correcting the desired air-fuel ratio. A learned value of the desired air-fuel ratio correction amount is calculated, and the desired air-fuel ratio is corrected. Calculation of the learned value of the desired air-fuel ratio correction amount is permitted depending on a ratio between a time period over which the output from the second air-fuel ratio sensor is on a richer side with respect to a predetermined reference value and a time period over which the output from the second air-fuel ratio sensor is on a leaner side with respect to the predetermined reference value.

Air-fuel ratio control system for internal combustion engines

A fuel metering control system for an internal combustion engine including a feedback loop having an adaptive controller and an adaptation mechanism that estimates controller parameters .theta.. The adaptive controller corrects the quantity of fuel injection to bring a controlled variable obtained at least based on an output of said air/fuel ratio sensor, to a desired value. The adaptation mechanism is input with the controlled variable once per prescribed crank angle such as a TDC of a certain cylinder and estimates the controller parameters. Since, however, the input is limited to a specific cylinder's air/fuel ratio, the air/fuel ratio is averaged for all cylinders and used in the calculation. Similar averaging is made for the other parameters input to the mechanism or output from the controller.

A fuel metering control system for an internal combustion engine having a plurality of cylinders. The system includes an air/fuel ratio sensor and engine operating condition detecting means for detecting engine operating conditions at least including engine speed and engine load. The basic quantity of fuel injection is determined by retrieving mapped data according to the engine speed and engine load. An adaptive controller is provided to calculate a feedback correction coefficient to correct the quantity of basic fuel injection such that the detected air/fuel ratio is brought to a desired value. The desired air/fuel ratio is corrected by a second air/fuel ratio sensor installed downstream of a catalytic converter.

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Wako, Japan

Yoichi Nishimura