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:
Aug. 04, 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 or the like capable of moving or acting by avoiding contact with an object, such as a person, while reducing the possibility of inducing a change of the behavior of the object. It is determined whether or not there is a first spatial element Qthat satisfies a contact condition that there is a possibility of contact with a reference spatial element Qon a discriminant plane. The reference spatial element Qand the first spatial element Qrepresent current images of a robotand an object x, respectively. When it is determined that there is a first spatial element Qthat satisfies the contact condition on the discriminant plane, a route that allows the reference spatial element Qto move by avoiding contact with a second spatial element Qis set as a new 'first action plan element' on the discriminant plane.