The present invention discloses a method and an apparatus for localization and mapping based on color block tags, applicable for real-time mapping of an area to be localized in which at least one color block tag is arranged, the method comprises: taking a location of a first color block tag as a coordinate origin of a coordinate system when information of the first color block tag is obtained by a mobile electronic device; moving the mobile electronic device to start to traverse the entire area to be localized from the coordinate origin, calculating coordinates of an obstacle detected by the mobile electronic device based on a location of the mobile electronic device relative to the coordinate origin; constructing a map based on recorded information of the color block tags and coordinates thereof and the coordinates of each obstacle when the traversal has been finished.

This application relates to the field of robot control, and provides a motion state control method and apparatus, a device, and a readable storage medium. The method includes the following steps: Step 301: Acquire basic data and motion state data, the basic data being used for representing a structural feature of a wheeled robot, and the motion state data being used for representing a motion feature of the wheeled robot. Step 302: Determine a state matrix of the wheeled robot based on the basic data and the motion state data, the state matrix being related to an interference parameter of the wheeled robot, the interference parameter corresponding to a balance error of the wheeled robot. Step 303: Determine, based on the state matrix, a torque for controlling the wheeled robot. Step 304: Control, by using the torque, the wheeled robot to be in a standstill state.

An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.

Provided is an excellent robot device capable of preferably detecting difference between dirt and a scratch on a lens of a camera and difference between dirt and a scratch on a hand. A robot device 100 detects a site in which there is the dirt or the scratch using an image of the hand taken by a camera 305 as a reference image. Further, this determines whether the detected dirt or scratch is due to the lens of the camera 305 or the hand by moving the hand. The robot device 100 performs cleaning work assuming that the dirt is detected, and then this detects the difference between the dirt and the scratch depending on whether the dirt is removed.

A method for modeling a robot simplified for stable walking control of a bipedal robot provides a robot model that is simplified as a virtual pendulum model including a virtual body, two virtual legs connected to the body at a virtual pivot point (VPP) that is set at a position higher than the center of mass (CoM) of the body, and virtual feet connected to the two legs, respectively, to step on the ground. A ground reaction force, which acts on the two legs, acts towards the VPP, thereby providing a restoring moment with respect to the CoM such that stabilization of the posture of the body naturally occurs.

Embodiments of the present application relate to the field of ground detection, and disclose a ground detection device, a robot and a ground detection method. The ground detection device includes a control circuit, a signal trigger circuit, a signal sampling circuit and an amplification circuit. Where, the signal sampling circuit is configured to acquire reflected light of the optical signal reflected by a detection area and ambient interference light, and to generate a second voltage signal according to the reflected light and the ambient interference light; the amplification circuit is configured to amplify the second voltage signal to acquire a third voltage signal; and the control circuit is configured to compare the third voltage signal with a preset voltage, and to determine whether there is a ground within the detection area according to a comparison result.

A path plan generating apparatus 10 corrects an RRT path plan that an RRT path plan generating section 22 has generated by processing based on the RRT algorithm, by a path plan correcting section 23 by processing based on the potential method. If the corrected path plan becomes a path plan with which interference between the mobile body 1 and an obstacle A is unavoidable, the apparatus 10 causes the RRT path plan generating section 22 to generate a new RRT path plan.

An information processing method of an information processor includes: obtaining information received from a mobile body through a wireless communication, the mobile body including a movement mechanism and an imaging unit configured to capture image data, the information received from the mobile body including captured image data obtained by the imaging unit, with the captured image data being updated periodically; and generating route guidance information for use in moving the mobile body by the movement mechanism. The captured image data is stored together with data update time information. The route guidance information includes at least two selectable routes. The route guidance information is generated based on the captured image data, position information of the mobile body, and the data update time information.

A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

The embodiments relate to a traveling apparatus adapted to perform communication sequentially with a plurality of moving objects. The traveling apparatus includes: a moving object data acquisition unit configured to acquire moving object data including at least location information of a plurality of moving objects present within a predetermined distance range in the periphery of the traveling apparatus; an object determination unit configured to determine a target of communication from among the plurality of the moving objects; and an operation control unit configured to move, based on the moving object data, the traveling apparatus in a direction in which there is few moving objects while maintaining the state in which the traveling apparatus performs communication with the target of communication.