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11. 发明申请

US20160016308A1 MOTION TARGET GENERATING APPARATUS OF MOBILE ROBOT 有权
标题翻译：运动目标产生移动机器人的装置
公开(公告)号：US20160016308A1
公开(公告)日：2016-01-21
申请号：US14797311
申请日：2015-07-13
申请人： HONDA MOTOR CO., LTD.
发明人： Masao Kanazawa , Tomoki Watabe , Takumi Kamioka , Minami Asatani
IPC分类号： B25J9/16 , B62D57/032
CPC分类号： B25J9/1607 , Y10S901/01 , Y10S901/28 , Y10S901/46
摘要： A motion target generating apparatus calculates the time series of motion accelerations of a base body 2 and the distal end portion of each of movable links 3 and 4 of a robot 1 at a plurality of times after a current time such that the value of a predetermined evaluation function is minimized in a range in which a joint motion constraint condition of each of the movable links 3 and 4 of the robot 1 is satisfied. Based on the calculated values of the motion accelerations at an initial time, new desired motion accelerations of the base body 2 and the distal end portion of each of the movable links 3 and 4 are determined. The desired value for controlling each joint of the robot 1 is determined on the basis of the desired motion accelerations.
摘要翻译：运动目标产生装置在当前时间之后多次计算机体1的可移动链节3和4的基体2的运动加速度的运动加速度和运动加速度的时间序列，使得预定的在满足机器人1的各可动连杆3和4的关节运动约束条件的范围内，使评价功能最小化。基于初始时间的运动加速度的计算值，确定基体2和每个可动连杆3和4的远端部分的新的期望运动加速度。基于期望的运动加速度来确定用于控制机器人1的每个关节的期望值。

12. 发明申请

US20130258100A1 CONTACT STATE ESTIMATING APPARATUS 有权
标题翻译：联系国家估计设备
公开(公告)号：US20130258100A1
公开(公告)日：2013-10-03
申请号：US13778861
申请日：2013-02-27
申请人： HONDA MOTOR CO., LTD.
发明人： Minami Asatani
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , G01C3/08 , G01S7/4808 , G01S17/08 , G01S17/875 , G01S17/88 , G01S17/89 , G06K9/6206
摘要： A position and a posture of a virtual face is searched so that a total cost E of a first cost E1 and a second cost E2 is approximated to a smallest value or a minimum value. A first cost E1(e1) corresponds to a sum of elastic energy with a first deviation e1(s) as a deformation amount, of a virtual spring group having a value of a first coefficient function w1(e1(s)) in a target region of a standard image as a spring coefficient. A second cost E2(e1, e2) corresponds to a sum of elastic energy with a second deviation e2 as a deformation amount, of a virtual spring group having a value of a second coefficient function w2(e2(s) of each pixel s included in the target region of the standard image as a spring coefficient.
摘要翻译：搜索虚拟脸部的位置和姿势，使得第一成本E1和第二成本E2的总成本E近似为最小值或最小值。第一成本E1（e1）对应于在目标中具有第一系数函数w1（e1（s））的值的虚拟弹簧组作为变形量的弹性能量与作为变形量的第一偏差e1（s）的和标准图像的区域作为弹簧系数。第二成本E2（e1，e2）对应于具有第二系数函数w2的值的虚拟弹簧组（包括每个像素的e2（s））的弹性能量与作为变形量的第二偏差e2的和在标准图像的目标区域作为弹簧系数。

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