Abstract: An arithmetic processing unit 40 estimates a possible existence region of a specific state quantity by performing polyhedron projection processing for finding a projection region obtained by projecting a convex polyhedron to a subspace representing the specific state quantity, where the convex polyhedron is within a space configured with the contact reaction forces of a plurality of contacting portions (13, 23) of a mobile robot 1 and the specific state quantity as variable components and where the convex polyhedron is specified by a mechanical relation between the contact reaction forces and the specific state quantity and by a linear inequality representing a contact reaction force constraint condition.

Abstract: An arithmetic processing unit 40 estimates a possible existence region of a specific state quantity by performing polyhedron projection processing for finding a projection region obtained by projecting a convex polyhedron to a subspace representing the specific state quantity, where the convex polyhedron is within a space configured with the contact reaction forces of a plurality of contacting portions (13, 23) of a mobile robot 1 and the specific state quantity as variable components and where the convex polyhedron is specified by a mechanical relation between the contact reaction forces and the specific state quantity and by a linear inequality representing a contact reaction force constraint condition.

Abstract: A controller 40 for a mobile robot 1 estimates, in a climbing up or down motion of the robot 1, the difference between the actual position and attitude of a distal end portion 13 of a to-be-supported movable link 3 that has been supported by a structure A and the desired position and attitude thereof, and determines a motion target of the robot 1 such that at least either the desired relative position/attitude of the distal end portion 13 of the to-be-supported movable link 3 with respect to a base body 2 or the desired support position/attitude of the distal end portion 13 of a to-be-moved movable link 3, which is to be moved, is adjusted according to the estimated value of the difference.

Abstract: A controller 40 for a mobile robot 1 estimates, in a climbing up or down motion of the robot 1, the difference between the actual position and attitude of a distal end portion 13 of a to-be-supported movable link 3 that has been supported by a structure A and the desired position and attitude thereof, and determines a motion target of the robot 1 such that at least either the desired relative position/attitude of the distal end portion 13 of the to-be-supported movable link 3 with respect to a base body 2 or the desired support position/attitude of the distal end portion 13 of a to-be-moved movable link 3, which is to be moved, is adjusted according to the estimated value of the difference.

Abstract: It is an object to detect the axial position of a rotor without using a sensor. A method for detecting the position of a motor including a rotor and a stator around which armature windings of a plurality of phases are wound is provided, wherein a position detecting coil is disposed on one axial end face of a stator core, an induced voltage generated in the position detecting coil is detected, and the axial position of the rotor is detected on the basis of the detection result.

Abstract: In order to optimize the clearances between both end surfaces of a sleeve 5 and each of the end surfaces of the fixed bodies 3 and 5, respectively, magnetic forces of repulsion being caused by each of the permanent magnets 3a, 5b, 5c and 8a is adjusted. At this time, by adjusting each of the distances between the permanent magnets 3a, 5b, 5c, 8a, respectively, by adjusting the quantity of the adjustment rings 9, the magnetic force of repulsion being caused by each of the permanent magnets 3a, 5b, 5c and 8a is adjusted.

Abstract: By inserting a protruding portion (8b), which is installed to a center position of a rear end surface (8x) of a fixed body (8), into a hole (4a), which is provided to a center position of an end surface (4x) on a side of a fixed body (8) of a fixed shaft (4) that is connected to a fixed body (3), the fixed bodies (3) and (8) and the fixed shaft (4) are connected. As a result, a sleeve (5) can be removed only by dismantling the fixed body (3).

Abstract: It is an object to detect the axial position of a rotor without using a sensor. A method for detecting the position of a motor including a rotor and a stator around which armature windings of a plurality of phases are wound is provided, wherein a position detecting coil is disposed on one axial end face of a stator core, an induced voltage generated in the position detecting coil is detected, and the axial position of the rotor is detected on the basis of the detection result.

Abstract: In order to optimize the clearances between both end surfaces of a sleeve 5 and each of the end surfaces of the fixed bodies 3 and 5, respectively, magnetic forces of repulsion being caused by each of the permanent magnets 3a, 5b, 5c and 8a is adjusted. At this time, by adjusting each of the distances between the permanent magnets 3a, 5b, 5c, 8a, respectively, by adjusting the quantity of the adjustment rings 9, the magnetic force of repulsion being caused by each of the permanent magnets 3a, 5b, 5c and 8a is adjusted.

Abstract: By inserting a protruding portion 8b, which is installed to a center position of a rear end surface 8x of a fixed body 8, into a hole 4a, which is provided to a center position of an end surface 4x on a side of a fixed body 8 of a fixed shaft 4 that is connected to a fixed body 3, the fixed bodies 3 and 8 and the fixed shaft 4 are connected. As a result, a sleeve 5 can be removed only by dismantling the fixed body 3.