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公开(公告)号：US10901425B2
公开(公告)日：2021-01-26
申请号：US16205572
申请日：2018-11-30
Applicant: Honda Motor Co., Ltd.
Inventor： Peter Trautman , Soshi Iba , Shih-Yun Lo , Katsu Yamane , Chao Cao
Abstract: Embodiments, systems, and methods for navigational planning of a mobile programmable agent are provided. In some embodiments, the navigational planning may include identifying a plurality of dynamic objects in a physical environment having an origin and a destination. The physical environment is divided into a plurality of plane figures. The location of a centroid of each plane figure can then be calculated. A network of segments is formed from the origin to the destination intersecting the centroids. At least one channel is determined from the origin to the destination using a set of segments. A set of gates is identified along the at least one channel. The state of the gates is selectively determined based on movement of the dynamic objects. A pathway can then be identified within the channel for the mobile programmable agent to traverse from the origin to the destination based on the state of the gates.
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公开(公告)号：US09014852B2
公开(公告)日：2015-04-21
申请号：US13774380
申请日：2013-02-22
Applicant: Honda Motor Co., Ltd.
Inventor： Soshi Iba , Akinobu Hayashi
CPC classification number: B25J9/163 , B25J9/161 , G05B2219/33054
Abstract: A system capable of causing an agent to continuously execute a plurality of different subtasks while securing the continuity of behavior of the agent is provided. A plurality of state variable trajectories representing the time series of a state variable of an object are generated according to a stochastic transition model in which the state variable of the object is represented as a random variable. The stochastic transition model is defined so that the transition mode of the state variable is determined according to an execution probability of each subtask in which a probability distribution is represented by a Dirichlet distribution. An operation of the agent is controlled so that the state of the object transits according to one state variable trajectory (desired state variable trajectory) maximizing or optimizing the joint probability of a whole of the stochastic transition model among the plurality of state variable trajectories.
Abstract translation: 提供一种能够使代理连续执行多个不同子任务同时确保代理行为的连续性的系统。 根据随机过渡模型生成表示对象的状态变量的时间序列的多个状态变量轨迹，其中对象的状态变量被表示为随机变量。 定义随机过渡模型，使得状态变量的转换模式根据其中概率分布由Dirichlet分布表示的每个子任务的执行概率来确定。 控制代理的操作，使得对象的状态根据一个状态变量轨迹（期望的状态变量轨迹）在多个状态可变轨迹中最大化或优化整个随机转换模型的联合概率。
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公开(公告)号：US20130345865A1
公开(公告)日：2013-12-26
申请号：US13774380
申请日：2013-02-22
Applicant: HONDA MOTOR CO., LTD.
Inventor： Soshi Iba , Akinobu Hayashi
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/161 , G05B2219/33054
Abstract: A system capable of causing an agent to continuously execute a plurality of different subtasks while securing the continuity of behavior of the agent is provided. A plurality of state variable trajectories representing the time series of a state variable of an object are generated according to a stochastic transition model in which the state variable of the object is represented as a random variable. The stochastic transition model is defined so that the transition mode of the state variable is determined according to an execution probability of each subtask in which a probability distribution is represented by a Dirichlet distribution. An operation of the agent is controlled so that the state of the object transits according to one state variable trajectory (desired state variable trajectory) maximizing or optimizing the joint probability of a whole of the stochastic transition model among the plurality of state variable trajectories.
Abstract translation: 提供一种能够使代理连续执行多个不同子任务同时确保代理行为的连续性的系统。 根据随机过渡模型生成表示对象的状态变量的时间序列的多个状态变量轨迹，其中对象的状态变量被表示为随机变量。 定义随机过渡模型，使得状态变量的转换模式根据其中概率分布由Dirichlet分布表示的每个子任务的执行概率来确定。 控制代理的操作，使得对象的状态根据一个状态变量轨迹（期望的状态变量轨迹）在多个状态可变轨迹中最大化或优化整个随机转换模型的联合概率。
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Patent Agency Ranking
公开(公告)号：US12018935B2
公开(公告)日：2024-06-25
申请号：US17024003
申请日：2020-09-17
Applicant: Honda Motor Co., Ltd.
Inventor： Karankumar Patel , Soshi Iba , Nawid Jamali
CPC classification number: G01B21/18 , B25J13/084 , G01B21/30 , G01L5/0061 , G06T7/40 , G06T7/50 , G06T2207/20081 , G06T2207/20084
Abstract: Systems and methods for tactile output estimation are provided. In one embodiment, the system includes a depth map module, an estimation module, and a surface module. The depth map module is configured to identify a region of interest (RoI) of an object. The area of the RoI corresponds to a tactile sensor size of a tactile sensor. The depth module is further configured to receive depth data for the RoI from a depth sensor and generate a depth map for the RoI based on a volume of the depth data relative to a frame of reference of the RoI. The estimation module is configured to estimate a tactile sensor output based on the depth map. The surface module configured to determine surface properties based on the estimated tactile sensor output.
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公开(公告)号：US20220080598A1
公开(公告)日：2022-03-17
申请号：US17024647
申请日：2020-09-17
Applicant: Honda Motor Co., Ltd.
Inventor： Nawid Jamali , Huckleberry Febbo , Karankumar Patel , Soshi Iba , Akinobu Hayashi , Itoshi Naramura
Abstract: Systems and methods for visuo-tactile object pose estimation are provided. In one embodiment, a method includes receiving image data about an object and receiving depth data about the object. The method also includes generating a visual estimate of the object based on the image data and the depth data. The method further includes receiving tactile data about the object. The method yet further includes generating a tactile estimate of the object based on the tactile data. The method includes estimating a pose of the object based on the visual estimate and the tactile estimate.
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公开(公告)号：US11104000B2
公开(公告)日：2021-08-31
申请号：US16656287
申请日：2019-10-17
Applicant: HONDA MOTOR CO., LTD.
Inventor： Soshi Iba
Abstract: Aspects of the present disclosure include methods, apparatuses, and computer readable media of traversing an obstacle including receiving optical data associated with an area near the robot, identifying the obstacle in the area based on the optical data, deflating, in response to identifying the obstacle, a ball of the robot, and applying a downward force through the deflated ball to propel the robot over the obstacle.
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17.发明授权公开(公告)号：US10580208B2
公开(公告)日：2020-03-03
申请号：US16055456
申请日：2018-08-06
Applicant: HONDA MOTOR CO., LTD.
Inventor： Kaoru Toba , Soshi Iba , Yuji Hasegawa
IPC: G06K9/00 , G06T17/05 , G06T7/246 , G06T7/33 , G06T7/215 , G06T7/62 , G06T7/262 , G06T7/37 , G06T3/40
Abstract: A ceiling map building method includes estimating a scale of each ceiling image based on information related to the ceiling image and information related to another ceiling image including a same object as included in the ceiling image, the scale being represented as a ratio of an amount of movement of the object between the two ceiling images to an amount of movement of the camera (6) between the positions thereof when the two ceiling images were respectively captured (ST16), and building a ceiling map (2) (ST2) by converting the ceiling images in accordance with the respective scales so as to have sizes suitable for the ceiling map and combining the converted ceiling images (ST84).
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公开(公告)号：US20160184991A1
公开(公告)日：2016-06-30
申请号：US14977805
申请日：2015-12-22
Applicant: HONDA MOTOR CO., LTD.
Inventor： Soshi Iba
IPC: B25J9/16
CPC classification number: B25J9/1664 , G05B2219/40521 , G06F17/50 , Y10S901/02
Abstract: To provide a system that can enhance stability of a result of predicting the state of an object. At least one candidate trajectory having a degree of approximation to a reference trajectory generated based on a current state of the object being in a specified rank or higher over a first specification period is specified as “a first candidate trajectory”. At least one candidate trajectory, extending from a last time point of being the first candidate trajectory to before elapse of a second specification period, is specified as “a second candidate trajectory”. Accordingly, it becomes possible to enhance stability of the specification result of the candidate trajectory as a result of predicting the state of the object.
Abstract translation: 提供可以增强对物体的状态的预测结果的稳定性的系统。 至少一个候选轨迹具有与第一指定周期内的指定等级或更高的对象的当前状态相对应的基准轨迹的近似程度，被指定为“第一候选轨迹”。 从第一候选轨迹的最后时间点延伸到第二规定周期之前的至少一个候选轨迹被指定为“第二候选轨迹”。 因此，作为预测物体的状态的结果，能够提高候选轨迹的规格结果的稳定性。
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