Title:
ROBOT AND CONTROL SYSTEM
Document Type and Number:
WIPO Patent Application WO/2011/016280
Kind Code:
A1
Abstract:
Provided are a control system etc. whereby with respect to a disturbance of an arbitrary pattern, an object to be controlled can be caused to behave in a pattern appropriate in light of the behavior objective of the aforementioned object to be controlled. It is configured in such a way that multiple modules (modi) are hierarchized depending on how high or low the frequency bands are, that each such module takes primary charge of the primary objectives thereof, that the aforementioned primary objectives are given priority, by the aforementioned module, over the auxiliary objectives which other modules take primary charge of, and that under these circumstances, a search is made for a behavior candidate which is a candidate for robot (R)'s behavior pattern compatible with the primary objectives and the auxiliary objectives. Robot (R)'s behavior is controlled in such a way that robot (R)'s behavior candidate which is searched for by high-frequency (j)th module is reflected preferentially over robot (R)'s behavior candidate which is searched for by low-frequency (j + 1)th module.
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Inventors:
TAKEDA, Masanori (4-1, Chuo 1-chome, Wako-sh, Saitama 93, 〒3510193, JP)
武田 政宣 (〒93 埼玉県和光市中央１丁目４番１号 株式会社本田技術研究所内 Saitama, 〒3510193, JP)
KURODA, Mitsuhide (4-1, Chuo 1-chome, Wako-sh, Saitama 93, 〒3510193, JP)
黒田 貢秀 (〒93 埼玉県和光市中央１丁目４番１号 株式会社本田技術研究所内 Saitama, 〒3510193, JP)
KANZAKI, Shigeru (4-1, Chuo 1-chome, Wako-sh, Saitama 93, 〒3510193, JP)
武田 政宣 (〒93 埼玉県和光市中央１丁目４番１号 株式会社本田技術研究所内 Saitama, 〒3510193, JP)
KURODA, Mitsuhide (4-1, Chuo 1-chome, Wako-sh, Saitama 93, 〒3510193, JP)
黒田 貢秀 (〒93 埼玉県和光市中央１丁目４番１号 株式会社本田技術研究所内 Saitama, 〒3510193, JP)
KANZAKI, Shigeru (4-1, Chuo 1-chome, Wako-sh, Saitama 93, 〒3510193, JP)
Application Number:
JP2010/058806
Publication Date:
February 10, 2011
Filing Date:
May 25, 2010
Export Citation:
Assignee:
HONDA MOTOR CO., LTD. (1-1 Minami-Aoyama 2-chome, Minato-ku Tokyo, 56, 〒1078556, JP)
本田技研工業株式会社 (〒56 東京都港区南青山二丁目１番１号 Tokyo, 〒1078556, JP)
TAKEDA, Masanori (4-1, Chuo 1-chome, Wako-sh, Saitama 93, 〒3510193, JP)
武田 政宣 (〒93 埼玉県和光市中央１丁目４番１号 株式会社本田技術研究所内 Saitama, 〒3510193, JP)
KURODA, Mitsuhide (4-1, Chuo 1-chome, Wako-sh, Saitama 93, 〒3510193, JP)
黒田 貢秀 (〒93 埼玉県和光市中央１丁目４番１号 株式会社本田技術研究所内 Saitama, 〒3510193, JP)
本田技研工業株式会社 (〒56 東京都港区南青山二丁目１番１号 Tokyo, 〒1078556, JP)
TAKEDA, Masanori (4-1, Chuo 1-chome, Wako-sh, Saitama 93, 〒3510193, JP)
武田 政宣 (〒93 埼玉県和光市中央１丁目４番１号 株式会社本田技術研究所内 Saitama, 〒3510193, JP)
KURODA, Mitsuhide (4-1, Chuo 1-chome, Wako-sh, Saitama 93, 〒3510193, JP)
黒田 貢秀 (〒93 埼玉県和光市中央１丁目４番１号 株式会社本田技術研究所内 Saitama, 〒3510193, JP)
International Classes:
B25J13/00; B25J5/00; G05B11/36; G05B13/02
Attorney, Agent or Firm:
SATO & ASSOCIATES (Nishi-Shinjuku Mitsui Building 18F, 24-1 Nishi-Shinjuku 6-chome, Shinjuku-k, Tokyo 23, 〒1600023, JP)
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