DE60142687D1 - Vorrichtung zur feststellung des bodenprofils für bewegliche roboter mit beinen - Google Patents
Vorrichtung zur feststellung des bodenprofils für bewegliche roboter mit beinenInfo
- Publication number
- DE60142687D1 DE60142687D1 DE60142687T DE60142687T DE60142687D1 DE 60142687 D1 DE60142687 D1 DE 60142687D1 DE 60142687 T DE60142687 T DE 60142687T DE 60142687 T DE60142687 T DE 60142687T DE 60142687 D1 DE60142687 D1 DE 60142687D1
- Authority
- DE
- Germany
- Prior art keywords
- legs
- determining
- floor profile
- moving robots
- robots
- 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
Links
Classifications
-
- 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
-
- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000147949A JP3726009B2 (ja) | 2000-05-19 | 2000-05-19 | 脚式移動ロボットの床形状推定装置 |
PCT/JP2001/004119 WO2001087549A1 (fr) | 2000-05-19 | 2001-05-17 | Dispositif de deduction du profil du sol pour robot mobile du type a jambes |
Publications (1)
Publication Number | Publication Date |
---|---|
DE60142687D1 true DE60142687D1 (de) | 2010-09-09 |
Family
ID=18654058
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE60142687T Expired - Lifetime DE60142687D1 (de) | 2000-05-19 | 2001-05-17 | Vorrichtung zur feststellung des bodenprofils für bewegliche roboter mit beinen |
Country Status (5)
Country | Link |
---|---|
US (1) | US6922609B2 (de) |
EP (1) | EP1291137B1 (de) |
JP (1) | JP3726009B2 (de) |
DE (1) | DE60142687D1 (de) |
WO (1) | WO2001087549A1 (de) |
Families Citing this family (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7319919B2 (en) * | 2002-04-26 | 2008-01-15 | Honda Giken Kogyo Kabushiki Kaisha | Control device and footstep determination device for legged mobile robot |
EP1552908A4 (de) * | 2002-10-11 | 2008-10-15 | Fujitsu Ltd | Vorrichtung zur erstellung eines robotersteueralgorithmus, programm zur erstellung eines robotersteueralgorithmus, robotersteuerprogramm und roboter |
KR20040068438A (ko) * | 2003-01-25 | 2004-07-31 | 삼성전자주식회사 | 보행식 로봇 및 그 위치이동방법 |
US20050228540A1 (en) * | 2003-03-23 | 2005-10-13 | Tomohisa Moridaira | Robot device and method of controlling the same |
US7437214B2 (en) * | 2003-03-27 | 2008-10-14 | Sony Corporation | Robot device and method of controlling the same |
WO2005000534A1 (ja) * | 2003-06-27 | 2005-01-06 | Honda Motor Co., Ltd. | 脚式移動ロボットの制御装置 |
JP4485279B2 (ja) * | 2004-08-02 | 2010-06-16 | 本田技研工業株式会社 | 脚式移動ロボットの歩容生成装置および制御装置 |
JP4912891B2 (ja) * | 2004-12-14 | 2012-04-11 | 本田技研工業株式会社 | 脚式移動ロボットおよびその制御プログラム |
WO2006132330A1 (ja) * | 2005-06-08 | 2006-12-14 | Nagoya Institute Of Technology | 脚式移動体の平衡点安定化装置 |
JP4929506B2 (ja) * | 2007-03-29 | 2012-05-09 | 本田技研工業株式会社 | 脚式移動ロボット |
KR20090126038A (ko) * | 2008-06-03 | 2009-12-08 | 삼성전자주식회사 | 보행 로봇 및 그 제어 방법 |
JP2010058253A (ja) * | 2008-09-08 | 2010-03-18 | Waseda Univ | 2足歩行ロボットの制御装置、及び2足歩行ロボットの制御方法 |
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 |
KR101687630B1 (ko) * | 2010-01-11 | 2016-12-20 | 삼성전자주식회사 | 보행 로봇 및 그 균형 제어 방법 |
KR101687628B1 (ko) * | 2010-01-12 | 2016-12-21 | 삼성전자주식회사 | 로봇의 보행 제어 장치 및 그 제어 방법 |
KR101687629B1 (ko) * | 2010-01-18 | 2016-12-20 | 삼성전자주식회사 | 인간형 로봇 및 그 보행 제어방법 |
JP5463991B2 (ja) * | 2010-03-18 | 2014-04-09 | トヨタ自動車株式会社 | 2脚歩行ロボット |
JP5616289B2 (ja) * | 2011-05-25 | 2014-10-29 | 本田技研工業株式会社 | 床面推定装置 |
KR20130068694A (ko) * | 2011-12-16 | 2013-06-26 | 삼성전자주식회사 | 보행 로봇 및 그 제어 방법 |
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 |
JP6228097B2 (ja) * | 2014-10-06 | 2017-11-08 | 本田技研工業株式会社 | 移動ロボット |
US9499218B1 (en) | 2014-12-30 | 2016-11-22 | Google Inc. | Mechanically-timed footsteps for a robotic device |
CN104709374B (zh) * | 2015-02-13 | 2017-03-08 | 中国北方车辆研究所 | 一种防止足式机器人左右倾斜的方法 |
EP3342564A4 (de) * | 2015-08-25 | 2019-05-29 | Kawasaki Jukogyo Kabushiki Kaisha | Ferngesteuertes robotersystem |
WO2019042536A1 (en) | 2017-08-30 | 2019-03-07 | Thyssenkrupp Presta Ag | MULTICANAL ECU ARCHITECTURE FOR EPS |
US11292126B2 (en) * | 2019-10-17 | 2022-04-05 | Disney Enterprises, Inc. | Robots with robust bipedal locomotion supported with non-conventional physics |
CN112947398A (zh) * | 2019-12-11 | 2021-06-11 | 深圳市优必选科技股份有限公司 | 一种机器人步态规划方法、装置、可读存储介质及机器人 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5311109A (en) | 1992-03-31 | 1994-05-10 | Honda Giken Kogyo Kabushiki Kaisha | Locomotion control system for legged mobile robot |
US5404086A (en) * | 1992-07-20 | 1995-04-04 | Honda Giken Kogyo Kabushiki Kaisha | System for controlling locomotion of legged mobile robot and correcting inclinometer's output thereof |
JP3330710B2 (ja) * | 1993-12-30 | 2002-09-30 | 本田技研工業株式会社 | 移動ロボットの位置検知および制御装置 |
US5808433A (en) * | 1995-09-29 | 1998-09-15 | Honda Giken Kogyo Kabushiki Kaisha | Method of generating gait of legged walking robot and system for controlling its locomotion |
DE69725764T2 (de) * | 1996-07-25 | 2004-08-05 | Honda Giken Kogyo K.K. | Vorrichtung zur nachbildung des ganges für einen zweibeinigen robotor |
US6505096B2 (en) * | 1996-12-19 | 2003-01-07 | Honda Giken Kogyo Kabushiki Kaisha | Posture control system of legged mobile robot |
JP3672406B2 (ja) * | 1997-01-31 | 2005-07-20 | 本田技研工業株式会社 | 脚式移動ロボットの歩容生成装置 |
DE69836765T2 (de) * | 1997-01-31 | 2007-10-04 | Honda Giken Kogyo K.K. | Steuergerät eines mit beinen beweglichen roboters |
JP3629133B2 (ja) | 1997-01-31 | 2005-03-16 | 本田技研工業株式会社 | 脚式移動ロボットの制御装置 |
FR2773339B1 (fr) * | 1998-01-06 | 2000-01-28 | Commissariat Energie Atomique | Appareil stabilise par un gyroscope, et notamment un robot bipede |
DE69943148D1 (de) * | 1998-04-20 | 2011-03-03 | Honda Motor Co Ltd | Steuereinheit für einen mit beinen beweglichen roboter |
JP2000153476A (ja) * | 1998-09-14 | 2000-06-06 | Honda Motor Co Ltd | 脚式移動ロボット |
-
2000
- 2000-05-19 JP JP2000147949A patent/JP3726009B2/ja not_active Expired - Lifetime
-
2001
- 2001-05-17 US US10/276,780 patent/US6922609B2/en not_active Expired - Lifetime
- 2001-05-17 WO PCT/JP2001/004119 patent/WO2001087549A1/ja active Application Filing
- 2001-05-17 DE DE60142687T patent/DE60142687D1/de not_active Expired - Lifetime
- 2001-05-17 EP EP01932117A patent/EP1291137B1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
JP3726009B2 (ja) | 2005-12-14 |
EP1291137B1 (de) | 2010-07-28 |
EP1291137A4 (de) | 2005-12-07 |
US20030114960A1 (en) | 2003-06-19 |
JP2001328083A (ja) | 2001-11-27 |
EP1291137A1 (de) | 2003-03-12 |
WO2001087549A1 (fr) | 2001-11-22 |
US6922609B2 (en) | 2005-07-26 |
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