65 results about "Object dynamics" patented technology

A gait generator determines a desired motional trajectory and a desired object reaction force trajectory of an object 120 for a predetermined period after the current time by using an object dynamic model while supplying, to the object dynamic model, a model manipulated variable (estimated disturbance force) for bringing a behavior of the object 120 on the object dynamic model close to an actual behavior, and provisionally generates a gait of a robot 1 for a predetermined period by using the aforesaid determined trajectories. Based on the gait and an object desired motion trajectory, a geometric restrictive condition, such as interference between the robot 1 and the object 120, is checked, and a moving plan for the object 120 or a gait parameter (predicted landing position / posture or the like) of the robot 1 is corrected as appropriate according to a result of the check, so as to generate a gait of the robot 1. Thus, a desired gait that satisfies a predetermined geometric restrictive condition related to the interference between the robot 1 and an object is generated by reflecting an actual environmental condition in real time while carrying out the operational control of the robot 1.

An image pickup device includes an image pickup section that picks up a long-time exposure image and short-time exposure image; a combining section that combines the long-time exposure image and short-time exposure image with each other, to generate a combined image, the exposure images being combined on the basis of a ratio between the exposure time of the long-time exposure image and the exposure time of the short-time exposure image; a dynamic range calculating section that calculates an object dynamic range from the long-time exposure image, the exposure time of the long-time exposure image, the short-time exposure image, and the exposure time of the short-time exposure image; and a compressing section that, using base compression curve data, calculates a compression curve suitable for the object dynamic range, and generates a compressed image in accordance with the calculated compression curve.

The invention belongs to the field of object locating methods and discloses a color identification and contour extraction-based object dynamic locating method. The method comprises the following steps of 1) performing object marking: applying a tag to the surface of each object needed to be identified; 2) performing data obtaining: collecting images of all tags in real time and transmitting the images to a computer; 3) performing color identification: converting the obtained images to an HSV space from an RGB space, and extracting a pixel pattern of each single-color interval; 4) performing contour extraction: performing the contour extraction, and reserving contours with areas in a screening range; and 5) performing object locating: performing fitting on the contours obtained by screening to obtain a minimum fitting periphery, obtaining central point coordinates of the objects, and then obtaining the positions of the objects. According to the method, the to-be-identified objects are subjected to specific color and shape marking, so that the identification difficulty is lowered; and the RGB space is converted to the HSV space, and the specific color intervals are set, so that accurate color distinguishing and accurate object locating can be realized.