The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 05, 2009
Filed:
Dec. 18, 2007
Makoto Nakamura, Wako, JP;
Yasuhiro Sawada, Wako, JP;
Mitsuhide Kuroda, Wako, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
A mobile apparatus for moving or acting while avoiding contact with an object, and reducing a change in the behavior of the object. It is determined whether there is a first spatial element that satisfies a contact condition that there is a possibility of contact with a reference spatial element on a discriminant plane including at least part of a representative point trajectory of a robot. If there is a first spatial element that satisfies the contact condition, a second action plan element involving changing the representative point trajectory is assumed, and it is determined whether there is a first spatial element that satisfies the contact condition on a new discriminant plane including at least part of the changed representative point trajectory. If there is no first spatial element that satisfies the contact condition on the new discriminant plane, the assumed new 'second action plan element' is set.