JP2014117795A - ロボットの歩行制御方法 - Google Patents
ロボットの歩行制御方法 Download PDFInfo
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- JP2014117795A JP2014117795A JP2013193413A JP2013193413A JP2014117795A JP 2014117795 A JP2014117795 A JP 2014117795A JP 2013193413 A JP2013193413 A JP 2013193413A JP 2013193413 A JP2013193413 A JP 2013193413A JP 2014117795 A JP2014117795 A JP 2014117795A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 210000002683 foot Anatomy 0.000 claims description 71
- 238000012423 maintenance Methods 0.000 claims description 10
- 210000003371 toe Anatomy 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 5
- 230000005484 gravity Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 210000000744 eyelid Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
【解決手段】本発明は、ロボットの足センサーを用いたロボットの歩行制御方法であって、ロボットが歩行状態であるかどうかを判断する判断段階と、ロボットが歩行状態の場合、足センサーを用いて両足支持か片足支持かを判断する区別段階と、ロボットが歩行状態で両足支持の場合、姿勢維持制御を行う両足支持段階と、ロボットが歩行状態で片足支持の場合、支持脚で重量補償と重量物補償による支持制御を行う支持段階と、ロボットが歩行状態で片足支持の場合、スイング脚でスイングのための仮想反力を生成するスイング段階とを含んでなる。
【選択図】図1
Description
すなわち、支持脚では、支持制御を行うとともに、足の動きを観察し、足が触れた途端から離れた途端までの速度と状態を把握する。これにより、歩行速度を予測し、これを用いて速度に応じて歩幅の長さを変え或いは足先の移動速度を速く変えるように歩行制御を行う。
S400 区別段階
S500 支持段階
S600 スイング段階
S700 両足支持段階
Claims (8)
- ロボットの足センサーを用いたロボットの歩行制御方法であって、
ロボットが歩行状態であるかどうかを判断する判断段階と、
ロボットが歩行状態の場合、足センサーを用いて両足支持か片足支持かを判断する区別段階と、
ロボットが歩行状態で両足支持の場合、姿勢維持制御を行う両足支持段階と、
ロボットが歩行状態で片足支持の場合、支持脚で重量補償と重量物補償による支持制御を行う支持段階と、
ロボットが歩行状態で片足支持の場合、スイング脚でスイングのための仮想反力を生成するスイング段階とを含んでなる、ロボットの歩行制御方法。 - 前記判断段階は、ロボットの足センサーまたはロボット関節のエンコーダを用いて判断することを特徴とする、請求項1に記載のロボットの歩行制御方法。
- 前記判断段階は、ロボットが歩行状態でない場合に姿勢維持制御を行うことを特徴とする、請求項1に記載のロボットの歩行制御方法。
- 前記支持段階は、支持脚で足センサーを用いて歩行速度を判断することを特徴とする、請求項1に記載のロボットの歩行制御方法。
- 前記スイング段階は、支持段階で把握された歩行速度に応じて歩幅または足先の移動速度を速く制御することを特徴とする、請求項4に記載のロボットの歩行制御方法。
- 前記スイング段階は、スイング脚の足が地面から離れた途端に仮想反力を生成することを特徴とする、請求項1に記載のロボットの歩行制御方法。
- 前記スイング段階の仮想反力は、COS関数によって表わされるもので、反力の印加の際にその大きさが最大値から益々減少することを特徴とする、請求項6に記載のロボットの歩行制御方法。
- 前記足センサーは、足の長さ方向に沿って連続的に配置された複数のセンシング素子から構成されたことを特徴とする、請求項1に記載のロボットの歩行制御方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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KR10-2012-0147880 | 2012-12-17 | ||
KR1020120147880A KR101371756B1 (ko) | 2012-12-17 | 2012-12-17 | 로봇의 보행제어방법 |
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JP2014117795A true JP2014117795A (ja) | 2014-06-30 |
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JP2013193413A Pending JP2014117795A (ja) | 2012-12-17 | 2013-09-18 | ロボットの歩行制御方法 |
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US (1) | US9120513B2 (ja) |
JP (1) | JP2014117795A (ja) |
KR (1) | KR101371756B1 (ja) |
CN (1) | CN103862475A (ja) |
DE (1) | DE102013103979B4 (ja) |
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KR101755763B1 (ko) * | 2014-06-11 | 2017-07-10 | 현대자동차주식회사 | 착용로봇의 보행제어방법 및 보행시스템 |
KR20160005816A (ko) | 2014-07-07 | 2016-01-18 | 현대자동차주식회사 | 착용로봇의 보행의도감지시스템 및 그 제어방법 |
US9499219B1 (en) * | 2014-08-25 | 2016-11-22 | Google Inc. | Touch-down sensing for robotic devices |
US10390973B2 (en) | 2015-05-11 | 2019-08-27 | The Hong Kong Polytechnic University | Interactive exoskeleton robotic knee system |
US10471610B2 (en) | 2015-06-16 | 2019-11-12 | Samsung Electronics Co., Ltd. | Robot arm having weight compensation mechanism |
KR101755801B1 (ko) * | 2015-07-06 | 2017-07-10 | 현대자동차주식회사 | 로봇의 보행 제어 시스템 및 방법 |
US10179619B1 (en) * | 2016-03-30 | 2019-01-15 | Schaft Inc. | Robotic foot sensor |
KR101841126B1 (ko) * | 2016-07-29 | 2018-03-22 | 국방과학연구소 | 착용형 로봇의 자세 제어 장치 및 그 장치의 제어 방법 |
CN110053039B (zh) * | 2018-01-17 | 2021-10-29 | 深圳市优必选科技有限公司 | 一种机器人行走中重力补偿的方法、装置及机器人 |
KR102009461B1 (ko) * | 2018-03-28 | 2019-08-09 | 국방과학연구소 | 운동 보조 장치 |
CN112965508B (zh) * | 2021-02-03 | 2022-02-15 | 北京理工大学 | 多信息反馈的电动并联轮足机器人行走控制方法和*** |
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2013
- 2013-03-15 US US13/844,740 patent/US9120513B2/en active Active
- 2013-04-19 DE DE102013103979.0A patent/DE102013103979B4/de active Active
- 2013-04-28 CN CN201310154386.7A patent/CN103862475A/zh active Pending
- 2013-09-18 JP JP2013193413A patent/JP2014117795A/ja active Pending
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Also Published As
Publication number | Publication date |
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DE102013103979B4 (de) | 2019-12-05 |
DE102013103979A1 (de) | 2014-06-18 |
US20140172168A1 (en) | 2014-06-19 |
CN103862475A (zh) | 2014-06-18 |
US9120513B2 (en) | 2015-09-01 |
DE102013103979A8 (de) | 2014-09-18 |
KR101371756B1 (ko) | 2014-03-12 |
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