Abstract: A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form. Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.

Abstract: Provided is a control system and the like capable of deriving at high speed a solution to the optimization problem of combinations of continuous state variable and discrete state variables. According to the control system, by setting a search range (first search range) of internal action candidates ai1 for an internal module mod1 smaller than a search range (second search range) of external action candidates ai2 for 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 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 form the low-frequency external module mod2.

Abstract: The present invention provides an object recognition system for an autonomous mobile body. The object recognition system includes a sensor unit for detecting an obstacle in a target field of view and measuring the position of the obstacle, and an electronic control unit for controlling movement of the autonomous mobile body.

Abstract: Provided is an optimization control system in an attempt to improve searching accuracy of an optimal solution defining a behavior mode for a control subject. A plan storing element 120 is configured to obtain a current update result of a joint probability distribution p(u, x) on the basis of a current update result of a probability distribution p(x) from a state estimating element 110 and a current update result of the conditional probability distribution p(u|x) from a behavior searching element 200. The behavior searching element 200 is configured to determine the conditional probability distribution p(u|x) as a current basis for obtaining the current update result of the conditional probability distribution p(u|x) on the basis of the current update result of the probability distribution p(x) from the state estimating element 110 and a previous update result of the joint probability distribution p(u, x) from the plan storing element 120.

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: Provided is an optimization control system in an attempt to improve searching accuracy of an optimal solution defining a behavior mode for a control subject. A plan storing element 120 is configured to obtain a current update result of a joint probability distribution p(u, x) on the basis of a current update result of a probability distribution p(x) from a state estimating element 110 and a current update result of the conditional probability distribution p(u|x) from a behavior searching element 200. The behavior searching element 200 is configured to determine the conditional probability distribution p(u|x) as a current basis for obtaining the current update result of the conditional probability distribution p(u|x) on the basis of the current update result of the probability distribution p(x) from the state estimating element 110 and a previous update result of the joint probability distribution p(u, x) from the plan storing element 120.

Abstract: Provided is a control system and the like capable of deriving at high speed a solution to the optimization problem of combinations of continuous state variable and discrete state variables. According to the control system, by setting a search range (first search range) of internal action candidates ai1 for an internal module mod1 smaller than a search range (second search range) of external action candidates ai2 for 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 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 form the low-frequency external module mod2.

Abstract: A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form. Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.

Abstract: A routing apparatus includes a sensor unit which has capabilities to detect an object in a target field of view and measure position of the object, and an electronic control unit which controls movements of the autonomous mobile unit. An electronic control unit determines velocity and a travel direction of the object based on changes in the position of the object obtained from the sensor unit over a plurality of measurement cycles, determines a path of the autonomous mobile unit so as to avoid collision with the object based on the position, the velocity, and the travel direction of the object, and determines the path of the autonomous mobile unit by setting the velocity of the object to a value equal to or lower than a predetermined value if the object recognized in the previous measurement cycle is not recognized in the current measurement cycle.

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: The present invention provides an object recognition system for an autonomous mobile body. The object recognition system includes a sensor unit for detecting an obstacle in a target field of view and measuring the position of the obstacle, and an electronic control unit for controlling movement of the autonomous mobile body.

Abstract: A mobile apparatus or the like capable of moving or acting by avoiding contact with an object, such as a person, while reducing the possibility of inducing a change of the behavior of the object. It is determined whether or not there is a first spatial element Q1 that satisfies a contact condition that there is a possibility of contact with a reference spatial element Q0 on a discriminant plane. The reference spatial element Q0 and the first spatial element Q1 represent current images of a robot 1 and an object x, respectively. When it is determined that there is a first spatial element Q1 that satisfies the contact condition on the discriminant plane, a route that allows the reference spatial element Q0 to move by avoiding contact with a second spatial element Q2 is set as a new “first action plan element” on the discriminant plane.

Abstract: A mobile apparatus for moving or acting while avoiding contact with an object, and reducing a change in the behavior of the object. It is determined whether there is a first spatial element that satisfies a contact condition that there is a possibility of contact with a reference spatial element on a discriminant plane including at least part of a representative point trajectory of a robot. If there is a first spatial element that satisfies the contact condition, a second action plan element involving changing the representative point trajectory is assumed, and it is determined whether there is a first spatial element that satisfies the contact condition on a new discriminant plane including at least part of the changed representative point trajectory. If there is no first spatial element that satisfies the contact condition on the new discriminant plane, the assumed new “second action plan element” is set.

Abstract: In a road traffic simulation apparatus that expresses a plurality of mobile units and road traffic environments on a computer to simulate traffic situations in association with a plurality of mobile units, each of the mobile units is expressed by a combination of a driver model, a model of driving operations of a virtual driver, and a vehicle dynamics model, a model of physical behaviors of a mobile unit. The mobile units are programmed to travel independently to each other in a road traffic environment that is expressed on the computer.

Abstract: A routing apparatus includes a sensor unit which has capabilities to detect an object in a target field of view and measure position of the object, and an electronic control unit which controls movements of the autonomous mobile unit. An electronic control unit determines velocity and a travel direction of the object based on changes in the position of the object obtained from the sensor unit over a plurality of measurement cycles, determines a path of the autonomous mobile unit so as to avoid collision with the object based on the position, the velocity, and the travel direction of the object, and determines the path of the autonomous mobile unit by setting the velocity of the object to a value equal to or lower than a predetermined value if the object recognized in the previous measurement cycle is not recognized in the current measurement cycle.

Abstract: A mobile apparatus or the like capable of moving or acting by avoiding contact with an object, such as a person, while reducing the possibility of inducing a change of the behavior of the object. It is determined whether or not there is a first spatial element Q1 that satisfies a contact condition that there is a possibility of contact with a reference spatial element Q0 on a discriminant plane. The reference spatial element Q0 and the first spatial element Q1 represent current images of a robot 1 and an object x, respectively. When it is determined that there is a first spatial element Q1 that satisfies the contact condition on the discriminant plane, a route that allows the reference spatial element Q0 to move by avoiding contact with a second spatial element Q2 is set as a new “first action plan element” on the discriminant plane.

Abstract: A mobile apparatus for moving or acting while avoiding contact with an object, and reducing a change in the behavior of the object. It is determined whether there is a first spatial element that satisfies a contact condition that there is a possibility of contact with a reference spatial element on a discriminant plane including at least part of a representative point trajectory of a robot. If there is a first spatial element that satisfies the contact condition, a second action plan element involving changing the representative point trajectory is assumed, and it is determined whether there is a first spatial element that satisfies the contact condition on a new discriminant plane including at least part of the changed representative point trajectory. If there is no first spatial element that satisfies the contact condition on the new discriminant plane, the assumed new “second action plan element” is set.

Abstract: A technique for simulating natural behaviors of moving objects is provided. A road traffic simulation apparatus includes a simulation unit for performing a traffic simulation, a display unit for displaying a progress status of the traffic simulation and a control unit for controlling the simulation unit. The simulation unit has a traffic environment database and a moving object model. The moving object model has a driver model in which a driving operation of a driver is modeled and a vehicle dynamics model in which a vehicle behavior is modeled. The driver model performs different processes in parallel in respective different cycles. The results of each cycle process are integrated and output to the vehicle dynamics model.

Abstract: In a road traffic simulation apparatus that expresses a plurality of mobile units and road traffic environments on a computer to simulate traffic situations in association with a plurality of mobile units, each of the mobile units is expressed by a combination of a driver model, a model of driving operations of a virtual driver, and a vehicle dynamics model, a model of physical behaviors of a mobile unit. The mobile units are programmed to travel independently to each other in a road traffic environment that is expressed on the computer.