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1. 发明专利

JP2011240475A Robot and control system 有权
标题翻译：机器人和控制系统
公开(公告)号：JP2011240475A
公开(公告)日：2011-12-01
申请号：JP2010194891
申请日：2010-08-31
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： KAMIOKA TAKUMI , TAKEDA MASANORI , KURODA MITSUHIDE , KANZAKI HIDE , TANAKA TOMOAKI
IPC分类号： B25J13/00 , B25J5/00
CPC分类号： B62D57/032 , B25J9/1602 , Y10S901/01
摘要： PROBLEM TO BE SOLVED: To provide a control system or the like capable of deriving at high speed a solution to an optimization problem of combinations of continuous state variables and discrete state variables.SOLUTION: By setting a search range (first search range) of action candidates afor an internal module mod1 smaller than a search range (second search range) of action candidates afor a low-frequency external module mod2, the arithmetic computing speed is accelerated accordingly. Thereby, when it is necessary for a robot R to cope with a disturbance emergently on the basis of measured state values of the robot R, the operation of the robot R can be controlled according to the arithmetic computing result from the high-frequency internal module mod1 without waiting for the arithmetic computing result from the low-frequency external module mod2.
摘要翻译：要解决的问题：提供能够高速导出连续状态变量和离散状态变量的组合的优化问题的解决方案的控制系统等。
解决方案：通过为小于动作候选者的搜索范围（第二搜索范围）的内部模块mod1设置动作候选的搜索范围（第一搜索范围）a i1 对于低频外部模块mod2的 i2 ，则相应地加速运算速度。因此，当机器人R需要基于机器人R的测量状态值紧急地应对干扰时，可以根据来自高频内部模块的算术计算结果来控制机器人R的操作 mod1，而不用等待来自低频外部模块mod2的算术运算结果。版权所有（C）2012，JPO＆INPIT

2. 发明专利

JP2014113929A Vehicle control device 审中-公开
标题翻译：车辆控制装置
公开(公告)号：JP2014113929A
公开(公告)日：2014-06-26
申请号：JP2012269706
申请日：2012-12-10
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： KAWAGOE HIROYUKI , MATSUSHIMA KUNIAKI , KOKAKI TORU , KANZAKI HIDE
IPC分类号： B60W30/18 , B60W10/06 , B60W10/184 , B60W10/20 , B62D6/00 , B62D101/00 , B62D103/00 , B62D109/00 , B62D111/00 , B62D113/00 , B62D133/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To ensure desired controllability and reliability of vehicle control.SOLUTION: A vehicle control device 10 includes: a travel plan generating part 25 which generates a travel plan of an own vehicle on the basis of information used for control of the own vehicle; a vehicle control part 29 which controls the own vehicle according to the travel plan obtained by the travel plan generating part 25; and a controlled variable regulating part 27 which regulates a controlled variable at the time when the own vehicle is controlled by the vehicle control part 29, according to the travel plan. The vehicle control part 29 regulates at least one of the magnitude of a controlled variable and change speed of at least either of a steering actuator 16, a brake actuator 15, and a throttle actuator 14.
摘要翻译：要解决的问题：确保车辆控制的期望的可控性和可靠性。解决方案：车辆控制装置10包括：旅行计划生成部25，其基于用于控制自身的信息生成自身车辆的行驶计划车辆; 根据由旅行计划生成部25获得的旅行计划来控制本车辆的车辆控制部29; 以及根据行驶计划，在本车辆被车辆控制部29控制时调节受控变量的受控变量调节部27。车辆控制部分29调节至少一个控制变量的大小和转向致动器16，制动致动器15和节气门致动器14中的至少一个的变化速度。

3. 发明专利

JP2013116529A Gait generating device for legged mobile robot and operational target generating device for robot 有权
标题翻译：用于机器人的移动机器人和操作目标生成装置的GAIT生成装置
公开(公告)号：JP2013116529A
公开(公告)日：2013-06-13
申请号：JP2011265276
申请日：2011-12-02
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： KANAZAWA MASAO , KANZAKI HIDE
IPC分类号： B25J5/00
CPC分类号： B25J9/1607 , B62D57/032 , Y10S901/01
摘要： PROBLEM TO BE SOLVED: To provide a gait generating device capable of generating a target gait of a robot by appropriately reflecting a restriction condition for limiting the operation of a joint of each leg link when generating the target gait for moving the robot.SOLUTION: The gait generating device 32 includes a desired particular-site motion velocity value determining means 45 that uses a quadratic evaluation function having a particular-site motion velocity vector Vb as a variable and a linear matrix inequality having the vector Vb as a variable to sequentially determine as a desired value vector Vb_cmd2 of the vector Vb, a value of the vector Vb that can minimize the value of the evaluation function within a range in which a restriction condition that the linear matrix inequality holds is satisfied by arithmetic processing according to a solution method for a quadratic programming problem. The device then integrates the vector Vb_cmd2, thereby sequentially determining desired values of the position and posture of a particular site (body) 2 of the robot 1. The linear matrix inequality is set to satisfy a condition restricting the operation of the joint between the particular site 2 and the distal portion of each leg link 3.
摘要翻译：要解决的问题：提供一种能够通过在生成用于移动机器人的目标步态时适当地反映用于限制每个腿连杆的关节的操作的限制条件，从而能够产生机器人的目标步态的步态产生装置。步态生成装置32包括使用具有特定位置运动速度矢量Vb作为变量的二次评价函数的期望特定运动速度值确定装置45和具有矢量Vb的线性矩阵不等式顺序地确定向量Vb的期望值向量Vb_cmd2的变量，可以通过算术处理来满足在线性矩阵不等式成立的限制条件下能够最小化评估函数的值的向量Vb的值根据二次规划问题的解决方法。然后，装置对矢量Vb_cmd2进行积分，从而顺序地确定机器人1的特定位置（主体）2的位置和姿势的期望值。线性矩阵不等式被设置为满足限制特定位置站点2和每个腿链节3的远端部分。版权所有：（C）2013，JPO＆INPIT

4. 发明专利

JP2013116528A Gait generator of legged mobile robot 有权
标题翻译：移动机器人的GAIT发电机
公开(公告)号：JP2013116528A
公开(公告)日：2013-06-13
申请号：JP2011265275
申请日：2011-12-02
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： KANZAKI HIDE , KAMIOKA TAKUMI , TAKEDA MASANORI , KURODA MITSUHIDE , KANAZAWA MASAO
IPC分类号： B25J5/00
摘要： PROBLEM TO BE SOLVED: To generate a target gait so that a translational momentum vector and an angular momentum vector of the whole of a legged mobile robot follow a target while preventing a position and a posture of a base of the legged mobile robot from being deviated from a proper state.SOLUTION: A gait generator 32 includes: a means 45 for determining a target value "upward arrow"Vb_cmd2 of a base motion velocity vector by multiplying a target value "upward arrow"S_cmd of a control object vector "upward arrow"S having, as constituent elements, a basic target value "upward arrow"P_cmd2 of a translational momentum vector of the whole center of gravity of a robot 1, a basic target value "upward arrow"L_cmd1 of an angular momentum vector about the whole center of gravity, and a basic target value "upward arrow"Vb_cmd1 of a base motion velocity vector having, as its elements, time change rates of the position and the posture of the base 2 of the robot 1 by a pseudo inverse matrix of a Jacobian matrix; and a means 46 for determining, as the constituent elements of a target gait, the target position and the target posture of the base 2 by integrating the "upward arrow"Vb_cmd2.
摘要翻译：要解决的问题：为了产生目标步态，使得有腿的移动机器人的整体的平移动量矢量和角动量矢量跟随目标，同时防止有腿的移动机器人的基座的位置和姿势从偏离适当的状态。步骤发生器32包括：用于通过将控制对象向量“向上箭头”S的目标值“向上箭头”S_cmd相乘来确定基本运动速度矢量的目标值“向上箭头”Vb_cmd2的装置45 具有作为机器人1的整个重心的平移动量矢量的基本目标值“向上箭头”P_cmd2，关于整个中心的角动量矢量的基本目标值“向上箭头”L_cmd1 重力和基本运动速度矢量的基本目标值“向上箭头”Vb_cmd1，其具有作为其元件的机器人1的基座2的位置和姿势的时间变化率，由雅可比矩阵的伪逆矩阵 ; 以及用于通过对“向上的箭头”Vb_cmd2进行积分来确定目标步态的目标位置和目标姿势的装置46。版权所有（C）2013，JPO＆INPIT

5. 发明专利

JP2011031350A Robot and control system 有权
标题翻译：机器人和控制系统
公开(公告)号：JP2011031350A
公开(公告)日：2011-02-17
申请号：JP2009181071
申请日：2009-08-03
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： TAKEDA MASANORI , KURODA MITSUHIDE , KANZAKI HIDE , YOSHIIKE TAKAHIDE
IPC分类号： B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a control system and the like causing a control object to act in a suitable configuration in view of the action objective of the control object in response to a disturbance with an arbitrary configuration. SOLUTION: Each of a plurality of modules modi hierarchized in accordance with the frequency band levels is configured so as to search an action candidate, being a candidate for an action configuration of a robot R suitable for the main objective and the sub objective, while prioritizing the objective of which a self-module is mainly in charge over the sub objectives of which the other modules are mainly in charge. The action of the robot R is controlled while reflecting the action candidate of the robot R searched by the jth module with a high frequency preferentially to the action candidate of the robot R searched by the j+1th module with a low frequency. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种控制系统等，其使控制对象响应于任意配置的干扰，考虑到控制对象的动作目标而以适当的配置动作。解决方案：根据频带电平进行等级化的多个模块中的每一个被配置为搜索动作候选，作为适合于主要目标和子目标的机器人R的动作配置的候选同时优先考虑自主模块主要负责其他模块主要负责的次目标的目标。控制机器人R的作用，同时以高频优先地将由第j个模块搜索到的机器人R的动作候选反映到由第j + 1个模块以低频搜索的机器人R的动作候选。版权所有（C）2011，JPO＆INPIT

6. 发明专利

JP2014034246A Steering control device for vehicle 有权
标题翻译：车辆转向控制装置
公开(公告)号：JP2014034246A
公开(公告)日：2014-02-24
申请号：JP2012175358
申请日：2012-08-07
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： KANZAKI HIDE , MORI YOSHIHIRO , KUBOTA DAISUKE
IPC分类号： B62D6/00 , B62D101/00 , B62D103/00 , B62D109/00 , B62D111/00 , B62D113/00 , B62D137/00 , G05B11/36 , G05B13/02
摘要： PROBLEM TO BE SOLVED: To perform steering control to make a local vehicle track a target route with high stability.SOLUTION: A steering control input for manipulating a steering quantity o f steering wheels 2f, 2f so as to track a target route is sequentially determined by combining together a first manipulated variable component calculated using observed values of a plurality of observation object state quantities varying in value according to steering and the value of a first gain parameter determined based upon map data according to an observed value of a traveling speed of a local vehicle 1, and a second manipulated variable component calculated using a future target position of the local vehicle 1 in the target route and the value of a second gain parameter determined based upon the map data according to the traveling speed of the local vehicle 1.
摘要翻译：要解决的问题：执行转向控制以使本地车辆跟踪具有高稳定性的目标路线。解决方案：用于操纵方向盘2f，2f的转向量以跟踪目标路线的转向控制输入依次由将根据转向的多个观察对象状态量的观测值和基于地图数据确定的第一增益参数的值根据本地的行驶速度的观测值合并在一起计算的第一操作变量成分车辆1，以及使用目标路线中的本地车辆1的未来目标位置计算的第二操纵变量分量，以及根据本地车辆1的行驶速度基于地图数据确定的第二增益参数的值。

7. 发明专利

JP2012208902A Optimal control system 有权
标题翻译：最佳控制系统
公开(公告)号：JP2012208902A
公开(公告)日：2012-10-25
申请号：JP2011076025
申请日：2011-03-30
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： KAMIOKA TAKUMI , TAKEDA MASANORI , KURODA MITSUHIDE , KANZAKI HIDE
IPC分类号： G06N3/00 , G05B13/02
CPC分类号： G06N7/005 , G05B13/024 , G06F17/11
摘要： PROBLEM TO BE SOLVED: To provide an optimal control system for improving the searching accuracy of the optimal solution determining the behavior configuration of a control object.SOLUTION: A measure storage element 120 acquires this time update result of simultaneous probability distribution p(u,x) on the basis of this time update result of probability distribution p(x) by a state estimation element 110 and this time update result of conditional probability distribution p(u|x) by a behavior search element 200. On the other hand, the behavior search element 200 determines the conditional probability distribution p(u|x) as this time standard for acquiring this time update result of the conditional probability distribution p(u|x) on the basis of this time update result of the probability distribution p(x) by the state estimation element 110 and a previous update result of the simultaneous probability distribution p(u, x) by the measure storage element 120.
摘要翻译：要解决的问题：提供一种用于提高确定控制对象的行为配置的最优解的搜索精度的最佳控制系统。解决方案：测量存储元件120基于状态估计元件110的概率分布p（x）的该时间更新结果来获取同时概率分布p（u，x）的时间更新结果，并且此次更新行为搜索元素200的条件概率分布p（u¾x）的结果。另一方面，行为搜索元素200将条件概率分布p（u¾x）确定为用于获取条件概率分布的该时间更新结果的时间标准基于由状态估计元件110的概率分布p（x）的该时间更新结果和由测量存储元件120的同时概率分布p（u，x）的先前更新结果的p（u¾x） P>版权所有（C）2013，JPO＆INPIT

8. 发明专利

JP2011051088A Robot and control system 有权
标题翻译：机器人和控制系统
公开(公告)号：JP2011051088A
公开(公告)日：2011-03-17
申请号：JP2010091801
申请日：2010-04-12
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： TAKEDA MASANORI , KURODA MITSUHIDE , KANZAKI HIDE , YOSHIIKE TAKAHIDE , KAMIOKA TAKUMI
IPC分类号： B25J5/00 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To provide a control system or the like that allows a control target to behave in an appropriate form in light of the behavior objective of the control target with respect to a disturbance of an arbitrary form.
SOLUTION: Each of a plurality of modules modi is hierarchized according to the level of the frequency band. Each module is configured to search a behavior candidate, being a candidate for the robot R's behavior form compatible with the main objective and the sub-objective, while prioritizing the main objective, of which one's own module mainly takes charge, over the sub-objective of which another module mainly takes charge. The robot R's behavior is controlled in a form that the robot R's behavior candidate, searched by a high-frequency j-th module, is more preferentially reflected than the robot R's behavior candidate searched by a low-frequency j+1th module.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种控制系统等，其根据控制目标的行为目标相对于任意形式的干扰，允许控制目标以适当的形式行为。解决方案：根据频带的电平对多个模块中的每一个进行分层。每个模块被配置为搜索行为候选者，作为与主要目标和子目标兼容的机器人R的行为形式的候选者，同时优先考虑自己的模块主要负责的主要目标超过子目标其中另一个模块主要负责。机器人R的行为以由低频第j个模块搜索的机器人R的行为候选比由低频第j个模块搜索的行为候选更为优先地反映的形式进行控制。版权所有（C）2011，JPO＆INPIT

9. 发明专利

JP2011031349A Robot and control system 有权
标题翻译：机器人和控制系统
公开(公告)号：JP2011031349A
公开(公告)日：2011-02-17
申请号：JP2009181070
申请日：2009-08-03
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： TAKEDA MASANORI , KURODA MITSUHIDE , KANZAKI HIDE , YOSHIIKE TAKAHIDE
IPC分类号： B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a control system and the like causing a control object to act in a suitable configuration in view of the action objective of the control object in response to a disturbance with an arbitrary configuration.
SOLUTION: Each of a plurality of modules modi hierarchized in accordance with the frequency band levels is configured so as to search an action candidate, being a candidate for an action configuration of a robot R suitable for the main objective and the sub objective, while prioritizing the main objective of which a self-module is mainly in charge over the sub objectives of which the other modules are mainly in charge. The action of the robot R is controlled while reflecting the action candidate of the robot R searched by the jth module with a high frequency preferentially to the action candidate of the robot R searched by the j+1th module with a low frequency.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种控制系统等，其使控制对象响应于任意配置的干扰，考虑到控制对象的动作目标而以适当的配置动作。解决方案：根据频带电平进行等级化的多个模块中的每一个被配置为搜索动作候选，作为适合于主要目标和子目标的机器人R的动作配置的候选同时优先考虑自主模块主要负责其他模块主要负责的次目标的主要目标。控制机器人R的作用，同时以高频优先地将由第j个模块搜索到的机器人R的动作候选反映到由第j + 1个模块以低频搜索的机器人R的动作候选。版权所有（C）2011，JPO＆INPIT

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