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公开(公告)号：US11766777B2
公开(公告)日：2023-09-26
申请号：US16710656
申请日：2019-12-11
发明人： Takuya Ikeda , Koji Terada
CPC分类号： B25J9/1612 , B25J9/163 , B25J9/1669 , B25J9/1697 , B25J19/021
摘要： A robot including a manipulator includes: an image-pickup acquisition unit configured to acquire an image of an environmental space including a target object to be grasped; and a control unit configured to control a motion performed by the robot, in which the control unit causes the robot to acquire, by the image-pickup acquisition unit, a plurality of information pieces of the target object to be grasped while it moves the robot so that the robot approaches the target object to be grasped, calculates, for each of the information pieces, a grasping position of the target object to be grasped and an index of certainty of the grasping position by using a learned model, and attempts to grasp, by moving the manipulator, the target object to be grasped at a grasping position selected based on a result of the calculation.
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公开(公告)号：US11243693B2
公开(公告)日：2022-02-08
申请号：US15837077
申请日：2017-12-11
发明人： Kazuhiro Mima , Koji Terada , Takahiro Nakayama
摘要： A program writing method in which a program is written into a flash ROM that a microcomputer includes therein includes: a generating step for generating a version representative value indicating a version of a source directory from predetermined types of files included in the source directory; an additionally writing step for additionally writing the version representative value into a source file included in the source directory; and a program writing step for writing a program corresponding to the source directory generated by compiling the source file into which the version representative value has been additionally written into the flash ROM.
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公开(公告)号：US20180162431A1
公开(公告)日：2018-06-14
申请号：US15832829
申请日：2017-12-06
发明人： Koji Terada , Noriaki Hirose
CPC分类号： B62B5/0069 , B62B3/12 , B62B5/0093 , B62B2301/04 , G05D1/0223
摘要： An omnidirectional cart including a cart part including a plurality of driving wheels, a body part attached to the cart part rotatably around a pivot axis, a command generation unit generates a speed command indicating a translational speed and a rotational speed of the body part at predetermined cycles, and a control unit searches for a predetermined number of the speed commands for maintaining a translational speed direction indicated by the speed command of a current step and calculates a speed command whose excess rate is a threshold or less or a speed command whose excess rate is minimum among the predetermined number of the speed commands, the excess rate indicating how much values of torque and angular speeds of wheel axes of the plurality of driving wheels and the pivot axis exceed limitation values when the omnidirectional cart operates in accordance with the speed command of the current step.
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公开(公告)号：US11433538B2
公开(公告)日：2022-09-06
申请号：US16682415
申请日：2019-11-13
发明人： Koji Terada
摘要： A trajectory generation system includes a computing unit that generates a trajectory on which a mobile body or a gripper moves from a start position to a target position, and an evaluating unit that evaluates a plurality of trajectory candidates. The computing unit generates the trajectory candidates leading to a target area including the target position and its vicinity, with a plurality of degrees of freedom associated with predetermined grip conditions, within at least one of a range in which the candidates can be computed in a predetermined period, a range in which they can be computed in a predetermined processing amount, and a range in which a predetermined number of trajectory candidates can be computed. The evaluating unit conducts evaluation of the trajectory candidates generated, based on an evaluation item, and the computing unit generates the trajectory, using one trajectory candidate selected based on the evaluation.
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公开(公告)号：US11833682B2
公开(公告)日：2023-12-05
申请号：US16710656
申请日：2019-12-11
发明人： Takuya Ikeda , Koji Terada
CPC分类号： B25J9/1612 , B25J9/163 , B25J9/1669 , B25J9/1697 , B25J19/021
摘要： A robot including a manipulator includes: an image-pickup acquisition unit configured to acquire an image of an environmental space including a target object to be grasped; and a control unit configured to control a motion performed by the robot, in which the control unit causes the robot to acquire, by the image-pickup acquisition unit, a plurality of information pieces of the target object to be grasped while it moves the robot so that the robot approaches the target object to be grasped, calculates, for each of the information pieces, a grasping position of the target object to be grasped and an index of certainty of the grasping position by using a learned model, and attempts to grasp, by moving the manipulator, the target object to be grasped at a grasping position selected based on a result of the calculation.
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公开(公告)号：US11493928B2
公开(公告)日：2022-11-08
申请号：US16682428
申请日：2019-11-13
发明人： Yuta Watanabe , Kazuto Murase , Koji Terada
摘要： A trajectory generation apparatus according to an embodiment includes an arithmetic unit capable of generating a positional trajectory of a movable part of a robot, in which: the arithmetic unit is further capable of generating a velocity trajectory of the movable part; and a predetermined time before switching a trajectory along which the movable part is moved from the velocity trajectory to the positional trajectory, the arithmetic unit predicts a position of the movable part at the time of the switching and generates the positional trajectory that starts from the predicted position.
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公开(公告)号：US20200159235A1
公开(公告)日：2020-05-21
申请号：US16682428
申请日：2019-11-13
发明人： Yuta Watanabe , Kazuto Murase , Koji Terada
IPC分类号： G05D1/02
摘要： A trajectory generation apparatus according to an embodiment includes an arithmetic unit capable of generating a positional trajectory of a movable part of a robot, in which: the arithmetic unit is further capable of generating a velocity trajectory of the movable part; and a predetermined time before switching a trajectory along which the movable part is moved from the velocity trajectory to the positional trajectory, the arithmetic unit predicts a position of the movable part at the time of the switching and generates the positional trajectory that starts from the predicted position.
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公开(公告)号：US10353392B2
公开(公告)日：2019-07-16
申请号：US15622828
申请日：2017-06-14
发明人： Koji Terada
摘要： Provided is an autonomous moving body that controls driving wheels by allowing a trailing caster to be located on a front side with respect to a traveling direction when it is recognized that there is no step in a traveling direction and controls the driving wheels to change the orientation of a base body in which the driving wheels and the trailing caster are arranged and approach the step so that at least one of two driving wheels contacts the step before the trailing caster contacts the step when it is recognized that there is a step in the traveling direction.
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公开(公告)号：US10232519B2
公开(公告)日：2019-03-19
申请号：US14914506
申请日：2014-07-29
发明人： Koji Terada
摘要： An object of the present invention is to provide a robot that can improve safety even when the robot is operated in an unobserved region and a method of controlling the robot. The robot according to the present invention operates while observing a surrounding environment. The robot includes environmental information obtaining means for obtaining environmental information on the environment around the robot and control means for reducing a driving force of the robot when the robot is operated in the unobserved region, in which region the environmental information thereof has not been obtained by the environmental information obtaining means.
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公开(公告)号：US11137768B2
公开(公告)日：2021-10-05
申请号：US16263005
申请日：2019-01-31
发明人： Koji Terada
IPC分类号： G05D1/02
摘要： A position estimation system and the like that prevent accuracy of self-position information from decreasing is provided. A position estimation system 100 according to the present disclosure includes a first sensor configured to output first data including data of an angular velocity of a wheel driven when a moving apparatus 10 moves. The position estimation system further includes a second sensor configured to output second data including position data of the moving apparatus 10 detected not according to the angular velocity of the wheel or data concerning a change in a posture of the moving apparatus 10. The position estimation system further includes a self-position estimation unit configured to set a priority of the first data according to a value of the angular velocity of the wheel and integrate the first data with the second data based on the set priority to estimate a position of the moving apparatus 10.
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