Abstract: A target locus of an attachment is determined while a calculation load for generating the target locus of the attachment is suppressed. A controller is configured to set a position of an arm distal end at a time when a contact detector detects contact of a bucket distal end with an excavation object at a start point of an arm distal end target locus. The controller is configured to receive information about a form of the arm distal end target locus in advance. The controller is configured to set a position for a finish point on the basis of an angle of a surface of the excavation object, an intersection angle between the arm distal end target locus and the surface of the excavation object, information about the form of the arm distal end target locus, and an offset amount about the finish point of the arm distal end target locus.

Abstract: An excavation position determination system achieves appropriate determination of an excavation start position in accordance with a shape or contour of an excavation target. The excavation position determination system includes: a photographing device that photographs an excavation target having a mountain shape and a bucket included in a working machine; a start position determinator that determines an excavation start position of the bucket to the excavation target. The start position determinator determines, on the basis of detected data from the photographing device, a position of the bucket where the bucket is not wholly hidden by the excavation target but a part of the excavation target and a part of the bucket overlap each other when the bucket is seen from a machine body of the working machine as the excavation start position.

Abstract: Provided is a holding apparatus capable of holding a holding object with sufficient holding force from either of the outside and the inside. The holding apparatus includes a holding-apparatus body, a first and second arms, an opening and closing mechanism, a driving device, and a first and second holding elements. The opening and closing mechanism interconnects each of the first and second arms and the holding apparatus main bodies so as to allow the first and second arms to be moved in the opening and closing direction while kept in the holding posture. The first and second holding elements is pivotably connected to the arm lower region, having respective inner contact surfaces opposed to each other in the opening and closing direction and respective outer contact surfaces facing the opposite side.