Abstract: A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.

Abstract: A robot, wherein the operating amounts of the first and second actuators are adjusted according to a torque necessary for maintaining a body member and an end member at specified angles in a mechanism in which the body member (361) and the end member (363) are rotatably connected to each other and first and second wires (366) connected to the end member are advanced and retreated by the first and second actuator (368).

Abstract: A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.

Abstract: A robot, wherein the operating amounts of the first and second actuators are adjusted according to a torque necessary for maintaining a body member and an end member at specified angles in a mechanism in which the body member (361) and the end member (363) are rotatably connected to each other and first and second wires (366) connected to the end member are advanced and retreated by the first and second actuator (368).

Abstract: A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means 210 for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means 210 for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means 218, 220 for detecting an actual torso motion, deviation calculation means 312 for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means 308 for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means 306 for correcting the target torso gait data based on the determined correction quantity.

Abstract: A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means 210 for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means 210 for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means 218, 220 for detecting an actual torso motion, deviation calculation means 312 for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means 308 for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means 306 for correcting the target torso gait data based on the determined correction quantity.

Abstract: A notice board business system database stores therein collectively the contents of all the data heads relating to a series of business processes, and is held in common in the form of a notice board through clients by all the related persons in charge of the tasks. A status change rule sets the data head in which the data input should be completed with respect to each of the task processes. A status watcher refers to both the notice board business system database and the status change rule to make the task process change from the current task process to the next task process when the predetermined data input has been completed in the process in task so as to inform the related client of that the status change has occurred. In addition, the status watcher refers to a status change limit rule for setting the data input completion due date for each of the task processes so as to inform, when the processing due date is drawing near, the related client of that the processing due date is drawing near.

Abstract: A notice board business system database stores therein collectively the contents of all the data heads relating to a series of business processes, and is held in common in the form of a notice board through clients by all the related persons in charge of the tasks. A status change rule sets the data head in which the data input should be completed with respect to each of the task processes. A status watcher refers to both the notice board business system database and the status change rule to make the task process change from the current task process to the next task process when the predetermined data input has been completed in the process in task so as to inform the related client of that the status change has occurred. In addition, the status watcher refers to a status change limit rule for setting the data input completion due date for each of the task processes so as to inform, when the processing due date is drawing near, the related client of that the processing due date is drawing near.

Abstract: A notice board business system database stores therein collectively the contents of all the data heads relating to a series of business processes, and is held in common in the form of a notice board through clients by all the related persons in charge of the tasks. A status change rule sets the data head in which the data input should be completed with respect to each of the task processes. A status watcher refers to both the notice board business system database and the status change rule to make the task process change from the current task process to the next task process when the predetermined data input has been completed in the process in task so as to inform the related client of that the status change has occurred. In addition, the status watcher refers to a status change limit rule for setting the data input completion due date for each of the task processes so as to inform, when the processing due date is drawing near, the related client of that the processing due date is drawing near.