Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2007-12-18
2009-08-04
Black, Thomas G (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S255000, C700S030000, C700S258000, C700S253000, C701S301000, C901S001000
Reexamination Certificate
active
07571026
ABSTRACT:
A mobile apparatus or the like capable of moving or acting by avoiding contact with an object, such as a person, while reducing the possibility of inducing a change of the behavior of the object. It is determined whether or not there is a first spatial element Q1that satisfies a contact condition that there is a possibility of contact with a reference spatial element Q0on a discriminant plane. The reference spatial element Q0and the first spatial element Q1represent current images of a robot1and an object x, respectively. When it is determined that there is a first spatial element Q1that satisfies the contact condition on the discriminant plane, a route that allows the reference spatial element Q0to move by avoiding contact with a second spatial element Q2is set as a new “first action plan element” on the discriminant plane.
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Kuroda Mitsuhide
Nakamura Makoto
Sawada Yasuhiro
Black Thomas G
Honda Motor Co. Ltd.
Olsen Lin B
Rankin , Hill & Clark LLP
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