Abstract: In a biped robot control system, stereoscopic images captured by CCD cameras are analyzed, the analyzed images are then utilized to detect presence of any moving object around the robot and if it present, to calculate moving object information, and based on the calculated moving object information, it is determined whether or not walking of the robot needs to be stopped. If it is determined to be stopped, the robot is controlled to stop within a period that brings the travel distance at stopping (distance moved between image capture by the CCD cameras and stopping of robot walking) to within a predetermined distance. With this, when the robot approaches a moving object during walking, it can be stopped within the predetermined distance to avoid collision with the moving object.

Abstract: The present invention detects a moving object by generating the distance information of the moving object, detecting the object motion, determining the object distance, detecting the object image area and the object contour from the video image that includes the object image and contour, and provides a moving object detection apparatus to carry out such detection as well as detecting a contour of the specific moving object by detecting the center of the moving object in high precision.

Abstract: In an overcurrent prevention system for a robot having links connected by joints and an electrical system including electric motors installed at the joint, a power circuit connecting the electric motors to a power source, and drive circuits to supply current to the electric motors, there are provided a switching device installed in the power circuit, a current sensor detecting the current supplied to the electric motors, and the output of the current sensor is compared with a threshold value and the switching device is operated to execute a switching action to cut off the power circuit intermittently during a first predetermined period when the output of the current sensor exceeds the threshold value, thereby protecting the electrical system when overcurrent is detected, without causing functional disablement and/or posture instability of the robot.

Abstract: In a moving object detection system, an edge image is generated from captured images taken by CCD cameras and a moving object distance image indicative of a distance to a moving object (such as a human being) is generated by extracting pixel corresponding thereto. Then, pixels in the moving object distance image are summed to generate a histogram and a profile extraction region is set in the moving object distance image with its center line focusing on a position whose histogram is greatest, while the edge image is superposed on the moving object distance image to correct the center line of the profile extraction region such that the moving object is detected by extracting its profile in the region. With this, it becomes possible to detect the moving objects respectively even when the two or more objects are present in neighborhood.

Abstract: A moving object detection device comprising: an object distance setting part, determining the distance to a moving object that moves the most based on a distance image, in which information on distances to image-taken objects are embedded, and a difference image, in which the movements of moving objects are embedded as movement information; an object distance image generating part, generating an object distance image corresponding to the abovementioned distance; and a contour extraction part, extracting a contour inside the object distance image to detect a moving object.

Abstract: A power transmission system for a hybrid vehicle includes a motor/generator and a torque converter. The motor/generator and the torque converter are disposed in series between a crankshaft of an engine and a main shaft of a transmission. A side plate of the torque converter and a rotor disc of the motor/generator are connected via a drive plate having heat shielding properties and heat releasing properties.

Abstract: A communication system between vehicles of the present invention is equipped in each of the vehicles with an image taking device for taking an image around the vehicle; a moving body detection unit for detecting a moving body from the image taken by the image taking device; a display unit for displaying the image; an image data generation unit for generating image data output to the display unit of the each vehicle; and a transmitting/receiving device for any of transmitting/receiving data, wherein the image data generation unit generates image data for displaying an existence of a moving body, of which an image is taken by said image taking device of one of the vehicles, and outputs the image data to the display unit of other vehicle.

Abstract: In an overcurrent prevention system for a robot having links connected by joints and an electrical system including electric motors installed at the joint, a power circuit connecting the electric motors to a power source, and drive circuits to supply current to the electric motors, there are provided a switching device installed in the power circuit, a current sensor detecting the current supplied to the electric motors, and the output of the current sensor is compared with a threshold value and the switching device is operated to execute a switching action to cut off the power circuit intermittently during a first predetermined period when the output of the current sensor exceeds the threshold value, thereby protecting the electrical system when overcurrent is detected, without causing functional disablement and/or posture instability of the robot.

Abstract: The present invention detects a moving object by generating the distance information of the moving object, detecting the object motion, determining the object distance, detecting the object image area and the object contour from the video image that includes the object image and contour, and provides a moving object detection apparatus to carry out such detection as well as detecting a contour of the specific moving object by detecting the center of the moving object in high precision.

Abstract: In an event site or the like, a visitor may waste time and effort trying to find a spot where an event of interest may be taking place because the visitor is unable to look through the entire site from any particular spot. An information gathering robot roams in such an event site typically along a prescribed route, and notes spots of interest to transmit this information to a data server. The visitor can access the data server to find a spot of interest of his or her choice substantially on a real time basis.

Abstract: A mobile robot that is fitted with a camera and can be controlled from a remote terminal such as a mobile phone moves about in an event site to detect and track a moving object such as a visitor and entertainer. Because the camera along with the robot itself can change its position freely autonomously and/or according to a command from the mobile terminal, a desired frame layout can be accomplished by moving the position of the robot. Therefore, the operator is not required to execute a complex image trimming process or other adjustment of the obtained picture image so that a desired picture can be obtained quickly and without any difficulty. If the user is allowed access the managing server, the user can download the desired picture images and have them printed out at will. Also, because the selected picture images can be transmitted to the managing server, the robot is prevented from running out of memory for storing the picture images.

Abstract: A gesture recognition apparatus for recognizing postures or gestures of an object person based on images of the object person captured by cameras. The gesture recognition apparatus includes: a face/fingertip position detection means which detects a face position and a fingertip position of the object person in three-dimensional space based on contour information and human skin region information of the object person to be produced by the images captured; and a posture/gesture recognition means which operates to detect changes of the fingertip position by a predetermined method, to process the detected results by a previously stored method, to determine a posture or a gesture of the object person, and to recognize a posture or a gesture of the object person.

Abstract: In a biped robot control system, stereoscopic images captured by CCD cameras are analyzed, the analyzed images are then utilized to detect presence of any moving object around the robot and if it present, to calculate moving object information, and based on the calculated moving object information, it is determined whether or not walking of the robot needs to be stopped. If it is determined to be stopped, the robot is controlled to stop within a period that brings the travel distance at stopping (distance moved between image capture by the CCD cameras and stopping of robot walking) to within a predetermined distance. With this, when the robot approaches a moving object during walking, it can be stopped within the predetermined distance to avoid collision with the moving object.

Abstract: In a moving object detection system, an edge image is generated from captured images taken by CCD cameras and a moving object distance image indicative of a distance to a moving object (such as a human being) is generated by extracting pixel corresponding thereto. Then, pixels in the moving object distance image are summed to generate a histogram and a profile extraction region is set in the moving object distance image with its center line focusing on a position whose histogram is greatest, while the edge image is superposed on the moving object distance image to correct the center line of the profile extraction region such that the moving object is detected by extracting its profile in the region. With this, it becomes possible to detect the moving objects respectively even when the two or more objects are present in neighborhood.

Abstract: In a belt for a continuously variable transmission, a first clearance CLNH is defined between a projection and a recess formed on front and rear surfaces of a metal element, and a second clearance CLy is defined between an upper surface of a metal ring assembly and a lower ear surface of the metal element. By setting a relation, CLY>CLNH ensures, that when the metal element has been pitched, the projection and the recess can be first brought into contact with each other, thereby preventing a reduction in durability of the metal ring assembly. If the thickness of the metal ring assembly is represented by TL, and the vertical opening of the ring slot is represented by D, when the value of D/TL exceeds 11/8, the power transmitting efficiency is reduced. Therefore, the reduction in power transmitting efficiency can be prevented while maintaining durability of metal ring assembly by setting D/TL at a smaller value than 11/8.

Abstract: A moving object detection device comprising: an object distance setting part, determining the distance to a moving object that moves the most based on a distance image, in which information on distances to image-taken objects are embedded, and a difference image, in which the movements of moving objects are embedded as movement information; an object distance image generating part, generating an object distance image corresponding to the abovementioned distance; and a contour extraction part, extracting a contour inside the object distance image to detect a moving object.

Abstract: A transmission comprises an engine, which is controllable to stop under a predetermined condition, and a speed change mechanism TM, which transmits the output rotation of the engine at different speed ratios. The speed change mechanism TM has a plurality of transmission paths (the LOW ratio, the SECOND speed ratio, etc.) disposed in parallel, a plurality of ratio-setting clutches (the LOW clutch 11, the SECOND speed clutch 12, etc.), each clutch for selecting a predetermined transmission path, and a speed change control system for selectively supplying a hydraulic pressure to any of the ratio-setting clutches to bring it into engagement. Engagement-initiation time is calculated for each ratio-setting clutch, so that the ratio-setting clutch requiring a minimum engagement-initiation time is selected as the clutch for the start-up speed ratio. When the engine is restarted from stopped state, this clutch for the start-up speed ratio is supplied with oil.

Abstract: A control system for an automatic transmission of a vehicle is disclosed. The automatic transmission operates in a manual operating mode in which a shift position of the automatic transmission can be changed according to a shift instruction issued by a driver of the vehicle, or in an automatic operating mode in which the shift position is automatically selected. In the control system, a slow running intention of the driver is detected. A first shift position is set to a starting shift position at the time of starting the vehicle when the slow running intention of the driver is not detected in the manual operating mode. A second shift position which is lower in transmission gear ratio than the first shift position is set to the starting shift position when the slow running intention of the driver is detected in the manual operating mode.

Abstract: To prevent undesirable displacement of the metal elements of a metal ring assembly of a continuously variable transmission in order to enhance the durability of the metal ring assembly, the metal elements are designed to meet the equation B/2=A+L and t=1.5A, where A is a distance between a rocking edge and a saddle surface of a metal element; B is a distance between the saddle surface and a lower end of a pulley abutment surface; L is a distance between the rocking edge and a frictional force application point of the pulley abutment surface; t is the thickness of the metal element; and the distances A and B are set so that a relation, 2≦B/A≦5, is established.

Abstract: A belt for continuously variable transmission, wherein the relationship between the thickness of the metal ring assembly and the groove width of the ring slot is established so that a limit rolling angle &agr; defined as a rolling angle of the metal elements provided when a radially outer peripheral surface of the metal ring assembly contacts a radially outer edge of the ring slot in the metal element is in a range of 0.7°<&agr;<2.5°. The upper limit value 2.5° of the angle &agr; is set as a rolling angle at which the driving force transmitting efficiency is a predetermined value or more, and the lower limit value 0.7° of the angle &agr; is set as a rolling angle generated following the deformation of a V-face due to an axial thrust on a drive or driven pulley.