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A navigation system of a hybrid car retrieves a route to detect whether any restricted area forbidden for automobiles that emit exhaust gases is on the route or not. Before the hybrid car arrives at the restricted area, an electric motor is driven by a gasoline engine portion to charge a battery por

A navigation system of a hybrid car retrieves a route to detect whether any restricted area forbidden for automobiles that emit exhaust gases is on the route or not. Before the hybrid car arrives at the restricted area, an electric motor is driven by a gasoline engine portion to charge a battery portion. After the hybrid car arrives at the restricted area, only the electric motor is operated by electric power of the battery portion so that the hybrid car can pass through the restricted area. As a result, the hybrid car can arrive at a destination by the shortest distance without bypassing the restricted area, and the environment of the restricted area can be protected because the gasoline engine portion is not operated in the restricted area.

대표청구항 ▼

A navigation system of a hybrid car retrieves a route to detect whether any restricted area forbidden for automobiles that emit exhaust gases is on the route or not. Before the hybrid car arrives at the restricted area, an electric motor is driven by a gasoline engine portion to charge a battery por

A navigation system of a hybrid car retrieves a route to detect whether any restricted area forbidden for automobiles that emit exhaust gases is on the route or not. Before the hybrid car arrives at the restricted area, an electric motor is driven by a gasoline engine portion to charge a battery portion. After the hybrid car arrives at the restricted area, only the electric motor is operated by electric power of the battery portion so that the hybrid car can pass through the restricted area. As a result, the hybrid car can arrive at a destination by the shortest distance without bypassing the restricted area, and the environment of the restricted area can be protected because the gasoline engine portion is not operated in the restricted area. ion model for robots; and wherein said strict model is a rigid body model or a non-linear and/or interference approximation model of a multiple material point system. 5. The control apparatus according to claim 3, further comprising: means for reselecting/modifying a pattern of movement of the trunk and a pattern of movement of the upper limbs when the selected motion of the trunk and the selected motion of the upper limbs cannot be realized by the first approximate solution. 6. The control apparatus according to claim 3, wherein said means for obtaining a first approximate solution for the motion of the loins comprises means for obtaining an approximate solution for the motion of the loins by solving a balancing equation of the moment on the selected ZMP generated by the motions of the feet, the trunk and the upper limbs and the moment on the ZMP generated by a horizontal plane motion of the loins. 7. The control apparatus according to claim 3, wherein said means for obtaining a first approximate solution for the motion of the loins comprises means for replacing a time function with a frequency function for computation. 8. The control apparatus according to claim 3, wherein said means for obtaining a first approximate solution for the motion of the loins comprises means for computationally determining Fourier coefficients of a horizontal plane trajectory of the loins by applying a Fourier series development to the moment on the selected ZMP generated by the motions of the feet, the trunk and the upper limbs and also to the horizontal plane trajectory of the loins and additionally obtaining an approximate solution of the motion of the loins by applying an inverse Fourier series development. 9. An ambulation control method for controlling a robot having an entire body including at least lower limbs, upper limbs, a trunk, feet and loins and moving by bipedalism; said method being adapted to obtain a pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, trajectory of zero moment point (ZMP) of the robot, the pattern of movement of the trunk and the pattern of movement of the upper limbs. 10. An ambulation control method for controlling a robot having at least lower limbs, upper limbs, a trunk and loins to move on two feet of the lower limbs of the robot in order to cause zero moment point (ZMP) of the robot to get to a target position, said method comprising the steps of: selecting motion of the feet, motion of the trunk and motion of the upper limbs and attitude and height of the loins in order to realize a requested action; selecting a trajectory of the ZMP on the basis of the selected motion of the feet; obtaining a solution for the motion of the loins for balancing a moment on the selected ZMP; and realizing the motion of the loins on the basis of the obtained solution for the motion of the loins. 11. An ambulation control method for controlling a robot having at least lower limbs, upper limbs, a trunk and loins to move on two feet of the lower limbs of the robot in order to cause zero moment point (ZMP) of the robot to get to a target position, said method comprising the steps of: selecting motion of the feet, motion of the trunk and motion of the upper limbs and attitude and height of the loins in order to realize a requested action; selecting a trajectory of the ZMP on the basis of the selected motion of the feet; obtaining a first approximate solution for the motion of the loins for balancing a moment on the selected ZMP trajectory by means of a non-strict model; obtaining a second approximate solution for the motion of the loins for balancing the moment on the selected ZMP trajectory by means of a strict model; finalizing the solution for the motion of the loins when the difference between the first and second approximate solutions is less than a predetermined admissible value; modify