'Contact State Estimating Apparatus and Trajectory GenerationApparatus' in Patent Application Approval Process

摘要

The following quote was obtained by the news editors from the background information supplied by the ninventors: "The present invention relates to an apparatus that estimates a contact state between different nobjects on the basis of information on a surface shape of each of the different objects, and relates to an napparatus that generates a position/posture trajectory representing a position and a posture of an object nin a times series manner on the basis of a result of the estimation. n"In order to control the posture of a legged mobile robot walking on a bumpy face stably, a method has nbeen proposed of calculating the grounding degree of a foot rear face of the robot with the ground at neach of different positions of the foot rear face on the basis of output values of distance sensors provided nat the different positions (see Japanese Patent Application Laid-Open No. 2009-107032).