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DE60313952D1 - Steuerung für mobilen roboter mit beinen - Google Patents

Steuerung für mobilen roboter mit beinen

Info

Publication number
DE60313952D1
DE60313952D1 DE60313952T DE60313952T DE60313952D1 DE 60313952 D1 DE60313952 D1 DE 60313952D1 DE 60313952 T DE60313952 T DE 60313952T DE 60313952 T DE60313952 T DE 60313952T DE 60313952 D1 DE60313952 D1 DE 60313952D1
Authority
DE
Germany
Prior art keywords
legs
control
mobile robot
robot
mobile
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE60313952T
Other languages
English (en)
Other versions
DE60313952T2 (de
Inventor
Toru Takenaka
Takashi Matsumoto
Takahide Yoshiike
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of DE60313952D1 publication Critical patent/DE60313952D1/de
Application granted granted Critical
Publication of DE60313952T2 publication Critical patent/DE60313952T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
DE60313952T 2002-01-18 2003-01-20 Steuerung für mobilen roboter mit beinen Expired - Lifetime DE60313952T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2002009891 2002-01-18
JP2002009891 2002-01-18
PCT/JP2003/000435 WO2003061917A1 (fr) 2002-01-18 2003-01-20 Dispositif de commande pour robot bipede

Publications (2)

Publication Number Publication Date
DE60313952D1 true DE60313952D1 (de) 2007-07-05
DE60313952T2 DE60313952T2 (de) 2008-01-24

Family

ID=27605977

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60313952T Expired - Lifetime DE60313952T2 (de) 2002-01-18 2003-01-20 Steuerung für mobilen roboter mit beinen

Country Status (6)

Country Link
US (1) US6969965B2 (de)
EP (1) EP1475198B1 (de)
JP (1) JP4246638B2 (de)
KR (1) KR100924505B1 (de)
DE (1) DE60313952T2 (de)
WO (1) WO2003061917A1 (de)

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DE60336127D1 (de) 2002-04-26 2011-04-07 Honda Motor Co Ltd Steuervorrichtung für mobilen roboter mit beinen
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EP1642689B1 (de) 2003-06-27 2011-02-16 Honda Motor Co., Ltd. Steuerung für mobilen roboter mit beinen
JP4800037B2 (ja) * 2004-02-06 2011-10-26 本田技研工業株式会社 移動ロボットの歩容生成装置
KR101131774B1 (ko) * 2004-02-16 2012-04-05 혼다 기켄 고교 가부시키가이샤 이동로봇의 보용생성장치
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US8332068B2 (en) * 2008-12-19 2012-12-11 Honda Motor Co., Ltd. Intelligent stepping for humanoid fall direction change
JP5219956B2 (ja) 2009-07-23 2013-06-26 本田技研工業株式会社 移動体の制御装置
JP5284923B2 (ja) 2009-10-28 2013-09-11 本田技研工業株式会社 脚式移動ロボットの制御装置
JP5483997B2 (ja) 2009-10-28 2014-05-07 本田技研工業株式会社 脚式移動ロボットの制御装置
JP5398592B2 (ja) 2010-03-01 2014-01-29 本田技研工業株式会社 脚式移動ロボットの運動状態評価装置
US8428780B2 (en) 2010-03-01 2013-04-23 Honda Motor Co., Ltd. External force target generating device of legged mobile robot
JP5465074B2 (ja) * 2010-04-22 2014-04-09 本田技研工業株式会社 ２足移動ロボットの制御装置
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JP5404543B2 (ja) * 2010-07-09 2014-02-05 本田技研工業株式会社 脚式移動ロボットの制御装置
JP5404544B2 (ja) * 2010-07-09 2014-02-05 本田技研工業株式会社 脚式移動ロボットの制御装置
KR101200191B1 (ko) * 2010-07-14 2012-11-13 서울대학교산학협력단 데이터 기반 바이페드 제어 장치 및 방법
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JP5978027B2 (ja) 2012-06-28 2016-08-24 本田技研工業株式会社 移動ロボットの制御装置
KR101441187B1 (ko) * 2012-07-19 2014-09-18 고려대학교 산학협력단 자율 보행 로봇 경로 계획 방법
JP5919143B2 (ja) * 2012-08-31 2016-05-18 本田技研工業株式会社 駆動装置
JP5897644B2 (ja) * 2014-06-02 2016-03-30 株式会社神戸製鋼所 ロボットの制御装置
US9931753B1 (en) 2014-07-24 2018-04-03 Boston Dynamics, Inc. Methods and devices for automatic gait transition
US10081098B1 (en) 2014-08-25 2018-09-25 Boston Dynamics, Inc. Generalized coordinate surrogates for integrated estimation and control
US9387588B1 (en) * 2014-08-25 2016-07-12 Google Inc. Handling gait disturbances with asynchronous timing
US9618937B1 (en) 2014-08-25 2017-04-11 Google Inc. Slip detection using robotic limbs
US9623556B1 (en) * 2014-09-03 2017-04-18 X Development Llc Robotic sole joint
JP6356033B2 (ja) * 2014-09-29 2018-07-11 本田技研工業株式会社 移動体の制御装置
JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
US9446518B1 (en) * 2014-11-11 2016-09-20 Google Inc. Leg collision avoidance in a robotic device
US9499218B1 (en) 2014-12-30 2016-11-22 Google Inc. Mechanically-timed footsteps for a robotic device
US9594377B1 (en) 2015-05-12 2017-03-14 Google Inc. Auto-height swing adjustment
US9586316B1 (en) 2015-09-15 2017-03-07 Google Inc. Determination of robotic step path
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CN106737585B (zh) * 2016-12-29 2023-07-14 深圳市优必选科技有限公司 腰部结构及人形机器人
US11453128B2 (en) * 2017-06-29 2022-09-27 Sony Interactive Entertainment Inc. Robot control apparatus, control method and control program
CN108247638B (zh) * 2018-01-30 2021-03-26 大连理工大学 多自由度旋转机械臂的控制方法
CN108614427B (zh) * 2018-06-07 2022-06-17 中国北方车辆研究所 一种四足机器人应激控制方法和装置
WO2020133288A1 (zh) * 2018-12-28 2020-07-02 深圳市优必选科技有限公司 一种双足机器人步态控制方法以及双足机器人
CN111098300B (zh) * 2019-12-13 2021-06-04 深圳市优必选科技股份有限公司 一种机器人平衡控制方法、装置、可读存储介质及机器人
CN114690908B (zh) * 2022-04-20 2025-02-11 深圳天域世界科技有限公司 Vr的控制交互方法及其相关装置
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Also Published As

Publication number Publication date
EP1475198A1 (de) 2004-11-10
US20050110448A1 (en) 2005-05-26
KR20040077724A (ko) 2004-09-06
JP4246638B2 (ja) 2009-04-02
JPWO2003061917A1 (ja) 2005-05-19
WO2003061917A1 (fr) 2003-07-31
EP1475198A4 (de) 2006-08-02
US6969965B2 (en) 2005-11-29
EP1475198B1 (de) 2007-05-23
KR100924505B1 (ko) 2009-11-02
DE60313952T2 (de) 2008-01-24

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