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DE69423955D1 - System zur Erfassung der Position eines beweglichen Roboters und dessen Steuerungsverfahren - Google Patents

System zur Erfassung der Position eines beweglichen Roboters und dessen Steuerungsverfahren

Info

Publication number
DE69423955D1
DE69423955D1 DE69423955T DE69423955T DE69423955D1 DE 69423955 D1 DE69423955 D1 DE 69423955D1 DE 69423955 T DE69423955 T DE 69423955T DE 69423955 T DE69423955 T DE 69423955T DE 69423955 D1 DE69423955 D1 DE 69423955D1
Authority
DE
Germany
Prior art keywords
detecting
control method
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 - Fee Related
Application number
DE69423955T
Other languages
English (en)
Other versions
DE69423955T2 (de
Inventor
Masao Nishikawa
Nobuaki Ozawa
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
Application granted granted Critical
Publication of DE69423955D1 publication Critical patent/DE69423955D1/de
Publication of DE69423955T2 publication Critical patent/DE69423955T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)
DE69423955T 1993-12-30 1994-12-30 System zur Erfassung der Position eines beweglichen Roboters und dessen Steuerungsverfahren Expired - Fee Related DE69423955T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP35115093A JP3330710B2 (ja) 1993-12-30 1993-12-30 移動ロボットの位置検知および制御装置

Publications (2)

Publication Number Publication Date
DE69423955D1 true DE69423955D1 (de) 2000-05-18
DE69423955T2 DE69423955T2 (de) 2000-12-07

Family

ID=18415388

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69423955T Expired - Fee Related DE69423955T2 (de) 1993-12-30 1994-12-30 System zur Erfassung der Position eines beweglichen Roboters und dessen Steuerungsverfahren

Country Status (4)

Country Link
US (2) US5737217A (de)
EP (1) EP0661614B1 (de)
JP (1) JP3330710B2 (de)
DE (1) DE69423955T2 (de)

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JP3726009B2 (ja) * 2000-05-19 2005-12-14 本田技研工業株式会社 脚式移動ロボットの床形状推定装置
JP3634238B2 (ja) * 2000-05-19 2005-03-30 本田技研工業株式会社 脚式移動ロボットの床形状推定装置
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JP4188607B2 (ja) * 2001-06-27 2008-11-26 本田技研工業株式会社 二足歩行移動体の床反力推定方法及び二足歩行移動体の関節モーメント推定方法
JP4733317B2 (ja) * 2001-08-28 2011-07-27 本田技研工業株式会社 脚式歩行ロボットの床反力検出器
JP3836466B2 (ja) * 2001-08-29 2006-10-25 本田技研工業株式会社 二足移動ロボットの遠隔操作装置
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JP4706357B2 (ja) * 2005-07-01 2011-06-22 トヨタ自動車株式会社 歩行型ロボット及びその絶対方位推定方法
JP2007030060A (ja) * 2005-07-22 2007-02-08 Honda Motor Co Ltd 移動ロボットの制御装置
KR100773344B1 (ko) * 2006-08-09 2007-11-05 (주)다사로봇 랜드마크를 이용한 충전스테이션 위치 인식 시스템
KR101026438B1 (ko) * 2008-02-29 2011-04-07 주식회사 임베디드포코리아 가상 공간관리 방법 및 시스템과 가상 공간 이동장치 및이를 위한 기록매체
JP5067215B2 (ja) * 2008-03-17 2012-11-07 トヨタ自動車株式会社 移動ロボット及び環境地図生成方法
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US7942221B1 (en) * 2008-06-20 2011-05-17 Wowwee Group Limited Method and system for enabling bi-pedal locomotion
JP5310236B2 (ja) * 2009-04-28 2013-10-09 トヨタ自動車株式会社 脚式ロボットとその制御方法
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NL2008490C2 (nl) 2012-03-15 2013-09-18 Ooms Otto Bv Werkwijze, inrichting en computerprogramma voor het extraheren van informatie over een of meerdere ruimtelijke objecten.
CN104027191B (zh) * 2014-07-02 2016-02-03 河北工业大学 一种膝上假肢的路况识别系统
CN104027225B (zh) * 2014-07-02 2018-12-07 河北工业大学 一种路况识别方法
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US9594377B1 (en) 2015-05-12 2017-03-14 Google Inc. Auto-height swing adjustment
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CN106482689B (zh) * 2016-12-29 2019-05-14 深圳天珑无线科技有限公司 线缆水平舞动位移检测方法、装置及系统
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CN110244705B (zh) * 2019-05-07 2022-03-08 峰禾(北京)科技有限公司 一种自动导引小车的行走校准装置及校准方法
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Also Published As

Publication number Publication date
EP0661614A2 (de) 1995-07-05
EP0661614A3 (de) 1995-09-13
DE69423955T2 (de) 2000-12-07
US5737217A (en) 1998-04-07
EP0661614B1 (de) 2000-04-12
US6021363A (en) 2000-02-01
JP3330710B2 (ja) 2002-09-30
JPH07205085A (ja) 1995-08-08

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee