Title:
移動装置、ならびにその制御システム、制御プログラムおよび監督システム
Document Type and Number:
Japanese Patent JP4143103
Kind Code:
B2
Abstract:
The invention provides a mobile apparatus capable of moving or acting while avoiding contact with an object, such as a person, while reducing the frequency of inducing a change in the behavior of the object. It is determined whether or not there is a first spatial element (Q 1 ) that satisfies a contact condition that there is a possibility of contact with a reference spatial element (Q 0 ) on a discriminant plane including at least part of a representative point trajectory of a robot (1). The reference spatial element(Qo)and the first spatial element(Qi)represent current images of the robot (1) and an object (x), respectively. If it is determined that there is a first spatial element (Q 1 ) that satisfies the contact condition, a second action plan element involving changing the representative point trajectory is assumed, and it is determined whether or not there is a first spatial element (Q 1 ) that satisfies the contact condition on a new discriminant plane including at least part of the changed representative point trajectory. If it is determined that there is no first spatial element (Q 1 ) that satisfies the contact condition on the new discriminant plane, the assumed new "second action plan element" is set.
Inventors:
Makoto Nakamura
Yasuhiro Sawata
Kuroda
Yasuhiro Sawata
Kuroda
Application Number:
JP2006342638A
Publication Date:
September 03, 2008
Filing Date:
December 20, 2006
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J13/00; B25J5/00; B25J13/08; G05D1/02
Domestic Patent References:
| JP2004306247A | ||||
| JP6138941A | ||||
| JP4358209A | ||||
| JP2000339029A | ||||
| JP5250023A | ||||
| JP62034784A | ||||
| JP2006239844A | ||||
| JP3050679A |
Attorney, Agent or Firm:
Tatsuhiko Sato
Susumu Hori
Takeshi Sagi
Kenichi Homma
Tsuyoshi Kagaya
Susumu Hori
Takeshi Sagi
Kenichi Homma
Tsuyoshi Kagaya