Mobile apparatus and robot, and control system thereof

A robot comprising a base body, a limb extended from the base body, an actuator and a control system,

• wherein the limb serves as a controlled subject to the control system,
• the control system is configured to control motions of the actuator so as to displace the limb to make the robot follow a desired trajectory in real space and is provided with
• a first arithmetic processing element configured to:
• set an initial positional relationship between a first reference point and a second reference point in the time-space coordinate system to satisfy a first condition defined according to a motion performance of the actuator;
• perform an extending process to extend a first line segment from the first reference point and extend a second line segment from the second reference point on the basis of a sequence of points in the time-space coordinate system;
• and
• perform a joining process to join the first line segment and the second line segment to search the line segment as a trajectory candidate;
• and
• a second arithmetic processing element configured to determine whether the trajectory candidate has a contact with an object trajectory representing time-series positions of an object discrete from the controlled subject in the time-space coordinate system;
• the first arithmetic processing element is configured to set a current positional relationship between the first reference point and the second reference point to satisfy a second condition, on a condition that a previous trajectory candidate is determined to have a contact with the object trajectory by the second arithmetic processing element, the second condition including that a current space interval between the first reference point and the second reference point in the time-space coordinate system is shorter than a previous space interval, or a current time interval between the first reference point and the second reference point in the time-space coordinate system is longer than a previous time interval, or the current space interval between the first reference point and the second reference point in the time-space coordinate system is shorter than the previous space interval and the current time interval between the first reference point and the second reference point in the time-space coordinate system is longer than the previous time interval, and search a current trajectory candidate, and
• the first arithmetic processing element is configured to set the previous trajectory candidate as the desired trajectory, on a condition that the previous trajectory candidate is determined to have no contact with the object trajectory by the second arithmetic processing element,
• wherein the first arithmetic processing element is configured to set the initial positional relationship between the first reference point and the second reference point through adjusting the length of at least one of the initial time interval and the initial space interval between the first reference point and the second reference point in the time-space coordinate system according to a level of a contact probability between the controlled subject and the object.

A mobile apparatus comprising an actuator and a control system,

• wherein the mobile apparatus serves as a controlled subject to the control system,
• the control system is configured to control motions of the actuator so as to make the mobile apparatus follow a desired trajectory in real space and is provided with
• a first arithmetic processing element configured to:
• set an initial positional relationship between a first reference point and a second reference point in the time-space coordinate system to satisfy a first condition defined according to a motion performance of the actuator;
• perform an extending process to extend a first line segment from the first reference point and extend a second line segment from the second reference point on the basis of a sequence of points in the time-space coordinate system;
• and
• perform a joining process to join the first line segment and the second line segment to search the line segment as a trajectory candidate;
• and
• a second arithmetic processing element configured to determine whether the trajectory candidate has a contact with an object trajectory representing time-series positions of an object discrete from the controlled subject in the time-space coordinate system;
• the first arithmetic processing element is configured to set a current positional relationship between the first reference point and the second reference point to satisfy a second condition, on a condition that a previous trajectory candidate is determined to have a contact with the object trajectory by the second arithmetic processing element, the second condition including that a current space interval between the first reference point and the second reference point in the time-space coordinate system is shorter than a previous space interval, or a current time interval between the first reference point and the second reference point in the time-space coordinate system is longer than a previous time interval, or the current space interval between the first reference point and the second reference point in the time-space coordinate system is shorter than the previous space interval and the current time interval between the first reference point and the second reference point in the time-space coordinate system is longer than the previous time interval, and search a current trajectory candidate, and
• the first arithmetic processing element is configured to set the previous trajectory candidate as the desired trajectory, on a condition that the previous trajectory candidate is determined to have no contact with the object trajectory by the second arithmetic processing element,
• wherein the first arithmetic processing element is configured to set the initial positional relationship between the first reference point and the second reference point through adjusting the length of at least one of the initial time interval and the initial space interval between the first reference point and the second reference point in the time-space coordinate system according to a level of a contact probability between the controlled subject and the object.