Patents Assigned to Motion Lib, Inc.
  • Publication number: 20220276711
    Abstract: A position/force controller includes a control unit and an impedance estimation unit. The control unit acquires a parameter that is generated under position and force control that is implemented in response to a touch of an object to be touched. The impedance estimation unit estimates impedance of the object to be touched, based on the parameter that is acquired by the control unit.
    Type: Application
    Filed: August 5, 2020
    Publication date: September 1, 2022
    Applicants: KEIO UNIVERSITY, Motion Lib, Inc.
    Inventors: Kouhei OHNISHI, Takahiro MIZOGUCHI
  • Publication number: 20220134542
    Abstract: A position/force controller performs a first conversion for distributing control energy to at least one of velocity or position energy and force energy, in accordance with a function to be realized, based on velocity (or position) and force information, which correspond to information relating to a position based on an operation of an actuator, and information serving as reference of control. The position/force controller calculates at least one of a velocity or position control amount and a force control amount based on at least one of the energies obtained through the distribution. The position/force controller integrates the calculated control amounts, performs a second conversion, and determines input to the actuator. The position/force controller performs a process, corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, with satisfaction of a condition set for the control energy.
    Type: Application
    Filed: February 7, 2020
    Publication date: May 5, 2022
    Applicants: KEIO UNIVERSITY, Motion Lib, Inc.
    Inventors: Kouhei OHNISHI, Takahiro NOZAKI, Takahiro MIZOGUCHI
  • Publication number: 20210334336
    Abstract: A function generation apparatus includes a function setter, a data string selector, and a matrix generator. The function setter sets a target function in an apparatus to be controlled. The data string selector selects, from among data strings indicating a plurality of combinations of parameters that can be reflected in control in the apparatus to be controlled, data strings according to the function set by the function setter. The matrix generator generates a transformation matrix according to the target function using the data strings selected by the data string selector as elements.
    Type: Application
    Filed: September 2, 2019
    Publication date: October 28, 2021
    Applicants: KEIO UNIVERSITY, Motion Lib, Inc.
    Inventors: Kouhei OHNISHI, Takahiro MIZOGUCHI
  • Publication number: 20200376681
    Abstract: Provided is technology for more appropriately realizing a human physical-act using a robot. This position/force control device comprises: an act time information retaining means for retaining a time interval or a time stamp of an act, in addition to act information when the act is recorded; a control reference information generation means for generating, from the recorded act information, information to serve as a control reference when the act is replicated; a control timing determination means for determining, from the recorded act time information, a timing for outputting the control reference information when the act is replicated; and a position/force control means for replicating the act on the basis of the generated control reference information and the determined control timing.
    Type: Application
    Filed: December 14, 2018
    Publication date: December 3, 2020
    Applicants: KEIO UNIVERSITY, Motion Lib, Inc.
    Inventors: Kouhei OHNISHI, Takahiro NOZAKI, Takahiro MIZOGUCHI, Wataru IIDA