公开(公告)号：US10059004B2

公开(公告)日：2018-08-28

申请号：US15176799

申请日：2016-06-08

申请人： Daiki Inaba ,  Wataru Hatanaka ,  Hiroshi Shimura ,  Atsuo Kawaguchi

发明人： Daiki Inaba ,  Wataru Hatanaka ,  Hiroshi Shimura ,  Atsuo Kawaguchi

IPC分类号： B25J9/16 ,  B25J5/00 ,  B62D55/075 ,  G05D1/02 ,  G05D1/08

CPC分类号： B25J9/1697 ,  B25J5/00 ,  B25J5/005 ,  B25J5/007 ,  B62D55/075 ,  G05D1/0223 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0274 ,  G05D1/0891 ,  G05D2201/0207 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/47

摘要： A robot includes a three-dimensional shape detecting sensor to detect a three dimensional shape of a travel surface existing in a forward travelling direction of the robot, a posture stabilizer to stabilize a posture of a body of the robot, a feature data generator to generate feature data of the detected three dimensional shape, an inclination angle prediction generator to generate a prediction value of an inclination angle of the body when the robot is to reach a position on the travel surface in the forward travelling direction at a future time point based on the feature data and a prediction model, and an overturn prevention controller to control the posture stabilizer to prevent an overturn of the robot based on the prediction value.

公开(公告)号：US09851211B2

公开(公告)日：2017-12-26

申请号：US15175402

申请日：2016-06-07

申请人： Wataru Hatanaka ,  Daiki Inaba ,  Hiroshi Shimura

发明人： Wataru Hatanaka ,  Daiki Inaba ,  Hiroshi Shimura

IPC分类号： G01C21/34 ,  G05D1/02

CPC分类号： G01C21/34 ,  G05D1/0217 ,  G05D2201/0209

摘要： An information processing apparatus includes: a travel purpose acquisition unit that acquires a travel purpose of a mobile object; a setting unit that sets multiple travel routes in different travel directions in a forward area with respect to the mobile object; a calculation unit that calculates, regarding each of the multiple travel routes, a predictive value of a travel state in which the mobile object travels along each of the multiple travel routes; a computing unit that computes, regarding each of the multiple travel routes, an evaluation value for the mobile object to realize traveling according to the travel purpose from weighting values that are predetermined according to the travel purpose and the predictive values; and a determining unit that determines, as a travel route to be followed next, a travel route with the highest evaluation represented by the evaluation value among the multiple travel routes.