| 摘要 |
<P>PROBLEM TO BE SOLVED: To avoid erroneous detection and yet detect collision early by changing a threshold to a minimum necessary value according to the situation as needed. <P>SOLUTION: A collision detector comprises: an evaluation quantity calculator 22 that computes a collision evaluation quantity related to disturbance d; a comparator 23 that compares the collision evaluation quantity Ci with a threshold thi for collision detection; and a threshold calculator 24. The threshold calculator 24 computes the threshold thi based on at least one of position information, speed information, and acceleration information related to models of equation of motion and the range of parameter errors in the models of equation of motion. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
