Abstract: A robot remote operation control device includes, in robot remote operation control for an operator to remotely operate a robot capable of gripping an object, an information acquisition unit that acquires operator state information on a state of the operator who operates the robot, an intention estimation unit that estimates a motion intention of the operator who causes the robot to perform a motion, on the basis of the operator state information, and a gripping method determination unit that determines a gripping method for the object on the basis of the estimated motion intention of the operator.

Abstract: A tele-operation assistance system includes: a motion acquisition unit configured to acquire information on a motion of an operator operating an end effector; an intention understanding unit configured to estimate a target object to be operated by the end effector and a task which is a method of operating the target object; an environmental situation determination unit configured to acquire environmental information of an environment in which the end effector is operated; and an operation amount determination unit determine an operation amount of the end effector. The operation amount determination unit estimates an operation distance to the target object based on information of the target object and the motion of the operator, determines an operation state of the end effector according to the estimated operation distance, and changes an input mode of an assistance to a tele-operation according to the operation state.

Abstract: A teleoperation assist device includes: a motion acquiring unit configured to acquire information on a motion of an operator who operates an end effector; an intention estimating unit configured to estimate a target object which is a target operated by the end effector and a task which is an operation method of the target object using the information acquired by the motion acquiring unit; an environmental status determining unit configured to acquire environment information of an environment in which the end effector is operated; a parameter setting unit configured to acquire information from the intention estimating unit and the environmental status determining unit and to set parameters of an operation type of the end effector from the acquired information; and an end effector operation determining unit configured to determine an amount of operation of the end effector on the basis of taxonomy which is the set parameters and the information acquired by the motion acquiring unit.

Abstract: A robot teleoperation control device includes a first acquisition unit that acquires operator state information of a state of an operator who operates a robot, an intention estimation unit that estimates an intention of the operator to cause the robot to perform a motion on the basis of the operator state information, a second acquisition unit that acquires at least one of geometric information and dynamic information of the object, an operation method determination unit that determines a method of operating the object based on the estimated motion intention of the operator, and a control amount determination unit that determines a method of operating the robot and force during operation from the information acquired by the second acquisition unit and information determined by the operation method determination unit and reflects the result in a control instruction.

Abstract: A displacement manipulated variable determination section 53 in a control device 40 for a mobile robot 1 determines, for each of contacting portions 13, 23 of a plurality of movable links 3, 4, a displacement manipulated variable for making a desired position and/or posture of the contacting portion 13 or 23 displaced, by integrating, under a predetermined condition, a deviation between an observed value of an actual contact reaction force acting from an external object and a desired value thereof. The control device 40 controls an actuator 41 that drives a corresponding joint, in accordance with the displacement manipulated variable determined and a reference operational goal for the mobile robot 1.

Abstract: A mobile robot 1 has a lower base body 6 and an upper base body 7, which is relatively rotatable with respect to the lower base body 6. The robot 1 is configured to be capable of performing a travel motion in which the robot 1 travels in a state wherein the front side of the upper base body 7 is oriented to face the same direction as the front side of the lower base body 6, and a travel motion in which the robot 1 travels in a state wherein the front side of the upper base body 7 is oriented to face the same direction as the rear side of the lower base body 6. The middle portion of each of leg links 3 can be bended toward either the front side or the rear side of the lower base body 6.

Abstract: An operating environment information generating device is provided which estimates, upon contact of a mobile robot (1) with a surface portion of an external object, a position and posture of the contact surface on the basis of a posture state of the robot (1), and, in the case where the degree of difference between the estimates and a position and posture of the surface portion of the external object indicated by environment information created based on measurement data by an external-object recognition sensor (46, 47) is large, corrects the environment information at the contact location in such a way as to make the position and posture of the contact surface match the estimates.

Abstract: A displacement manipulated variable determination section 53 in a control device 40 for a mobile robot 1 determines, for each of contacting portions 13, 23 of a plurality of movable links 3, 4, a displacement manipulated variable for making a desired position and/or posture of the contacting portion 13 or 23 displaced, by integrating, under a predetermined condition, a deviation between an observed value of an actual contact reaction force acting from an external object and a desired value thereof. The control device 40 controls an actuator 41 that drives a corresponding joint, in accordance with the displacement manipulated variable determined and a reference operational goal for the mobile robot 1.

Abstract: An operating environment information generating device is provided which estimates, upon contact of a mobile robot (1) with a surface portion of an external object, a position and posture of the contact surface on the basis of a posture state of the robot (1), and, in the case where the degree of difference between the estimates and a position and posture of the surface portion of the external object indicated by environment information created based on measurement data by an external-object recognition sensor (46, 47) is large, corrects the environment information at the contact location in such a way as to make the position and posture of the contact surface match the estimates.

Abstract: A control device for a mobile robot capable of stabilizing the posture of the mobile robot while in motion is provided. A control unit (26) for a mobile robot (1) includes a required total floor reaction force central point position calculating unit which calculates a required total floor reaction force central point position (Pzmp(1) to Pzmp(7)) as a position of a total floor reaction force central point by using, as a factor, a first total floor reaction force center reference position (SP(1) to SP(7)) which is defined on the basis of a current time's supporting region (Sd1 to Sd7), i.e. a smallest convex region including ground contact surfaces of current time's supporting limbs, and a next time's supporting region (Sd2 to Sd8), i.e. a smallest convex region including ground contact surfaces of next time's supporting limbs.

Abstract: 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.

Abstract: A mobile robot 1 has a lower base body 6 and an upper base body 7, which is relatively rotatable with respect to the lower base body 6. The robot 1 is configured to be capable of performing a travel motion in which the robot 1 travels in a state wherein the front side of the upper base body 7 is oriented to face the same direction as the front side of the lower base body 6, and a travel motion in which the robot 1 travels in a state wherein the front side of the upper base body 7 is oriented to face the same direction as the rear side of the lower base body 6. The middle portion of each of leg links 3 can be bended toward either the front side or the rear side of the lower base body 6.

Abstract: A control device for a mobile robot capable of stabilizing the posture of the mobile robot while in motion is provided. A control unit (26) for a mobile robot (1) includes a required total floor reaction force central point position calculating unit which calculates a required total floor reaction force central point position (Pzmp(1) to Pzmp(7)) as a position of a total floor reaction force central point by using, as a factor, a first total floor reaction force center reference position (SP(1) to SP(7)) which is defined on the basis of a current time's supporting region (Sd1 to Sd7), i.e. a smallest convex region including ground contact surfaces of current time's supporting limbs, and a next time's supporting region (Sd2 to Sd8), i.e. a smallest convex region including ground contact surfaces of next time's supporting limbs.

Abstract: 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.

Abstract: A device 11 includes a floor surface information acquisition portion 21 which acquires floor surface information in a plurality of local regions of a floor surface. The gait generator 22 of the device 11 sets the desired landing position and posture of a free leg 3 of a robot 1 within one local region and determines a desired horizontal motion trajectory of the distal end of the free leg 3 to determine a desired vertical motion trajectory of the distal end of the free leg 3 so that the height of the distal end of the free leg 3 is equal to or higher than a lower-limit height determined to prevent a contact between the distal end of the free leg 3 and the floor surface of the local region at the positions of a plurality of sampling points on the desired horizontal motion trajectory.

Abstract: In a legged mobile robot 1 having legs 2, a first landing permissible region and a second landing permissible region for a desired landing position of a distal end portion (a foot 22) of a free leg are determined, and the desired landing position of the free leg foot is determined in a region where the first and second landing permissible regions overlap each other, to thereby generate a desired gait of the robot. The first landing permissible region is determined so as to satisfy a geometric leg motion requisite condition. The second landing permissible region is determined such that a motion continuity requisite condition and a floor reaction force element permissible range requisite condition that are related to a prescribed floor reaction force element as a constituent element of the floor reaction force can be satisfied.

Abstract: A desired motion determiner of a control unit of a legged mobile robot determines a leg motion parameter specifying the motion trajectory of a distal end of a leg of the robot on the basis of the information on a floor geometry of an environment in which the robot travels and a requirement related to a travel route of the robot, thereby sequentially determining the desired motion of the robot. A floor geometry information output unit which outputs floor geometry information to the desired motion determiner outputs floor geometry information in which a rising surface of a stepped portion of a predetermined type, the contact thereof with a leg of the robot should be avoided, has been shaped into a surface having a gentler slope than an actual rising surface. The desired motion determiner determines the leg motion parameter such that the leg will not come in contact with the stepped portion having the shaped rising surface.

Abstract: In a legged mobile robot 1 having legs 2, a first landing permissible region and a second landing permissible region for a desired landing position of a distal end portion (a foot 22) of a free leg are determined, and the desired landing position of the free leg foot is determined in a region where the first and second landing permissible regions overlap each other, to thereby generate a desired gait of the robot. The first landing permissible region is determined so as to satisfy a geometric leg motion requisite condition. The second landing permissible region is determined such that a motion continuity requisite condition and a floor reaction force element permissible range requisite condition that are related to a prescribed floor reaction force element as a constituent element of the floor reaction force can be satisfied.

Abstract: A desired motion determiner of a control unit of a legged mobile robot determines a leg motion parameter specifying the motion trajectory of a distal end of a leg of the robot on the basis of the information on a floor geometry of an environment in which the robot travels and a requirement related to a travel route of the robot, thereby sequentially determining the desired motion of the robot. A floor geometry information output unit which outputs floor geometry information to the desired motion determiner outputs floor geometry information in which a rising surface of a stepped portion of a predetermined type, the contact thereof with a leg of the robot should be avoided, has been shaped into a surface having a gentler slope than an actual rising surface. The desired motion determiner determines the leg motion parameter such that the leg will not come in contact with the stepped portion having the shaped rising surface.

Abstract: When there is an object that has a possibility to come into contact with a robot 1 in a desired path, the robot 1 is decelerated stepwise according to the distance L from the robot 1 to a predicted contact position along the desired path. For example, legs 13 and the like of the robot 1 are so controlled that when the distance L is less than a first threshold L1, the moving speed is reduced to a first speed V1, and when the distance L is less than a second threshold lower than the first threshold, the moving speed is reduced from the first speed to a second speed.