JP4384021B2 - 脚式ロボットの制御装置 - Google Patents
脚式ロボットの制御装置 Download PDFInfo
- Publication number
- JP4384021B2 JP4384021B2 JP2004361711A JP2004361711A JP4384021B2 JP 4384021 B2 JP4384021 B2 JP 4384021B2 JP 2004361711 A JP2004361711 A JP 2004361711A JP 2004361711 A JP2004361711 A JP 2004361711A JP 4384021 B2 JP4384021 B2 JP 4384021B2
- Authority
- JP
- Japan
- Prior art keywords
- arm
- robot
- posture
- person
- external force
- 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
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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
- 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
-
- 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
- B25J13/085—Force or torque sensors
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Description
Claims (3)
- 上体に接続された脚部と腕部と、前記脚部を駆動する脚部アクチュエータと、前記腕部を駆動する腕部アクチュエータとを備えた脚式ロボットの制御装置において、
a.前記腕部アクチュエータの動作を制御して前記腕部に握手の姿勢を生成する腕部動作制御手段と、
b.前記握手の姿勢が生成された腕部に作用する外力を検出する外力検出手段と、
および
c.前記検出された外力が所定値を超えるとき、前記脚式ロボットの姿勢安定制御の実施を開始する姿勢安定制御開始手段と、
を備えると共に、前記姿勢安定制御は、検出される外力が前記所定値よりも大きく設定された第2の所定値を超えるとき、前記ロボットが前記検出される外力の向きと同方向に移動するように前記脚部アクチュエータの動作を制御することを特徴とする脚式ロボットの制御装置。 - さらに、
d.握手する人の位置を認識する人位置認識手段、
を備えると共に、前記腕部動作制御手段は、前記認識された人の位置に基づいて前記握手の姿勢を変更することを特徴とする請求項1記載の脚式ロボットの制御装置。 - さらに、
e.人を識別する識別情報を記憶して前記ロボットに送出する識別情報送出手段、
を備えると共に、前記腕部動作制御手段は、前記送出された識別情報に基づいて前記握手の姿勢を変更することを特徴とする請求項1または2記載の脚式ロボットの制御装置。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004361711A JP4384021B2 (ja) | 2004-12-14 | 2004-12-14 | 脚式ロボットの制御装置 |
KR1020050120153A KR100776849B1 (ko) | 2004-12-14 | 2005-12-08 | 레그식 로봇의 제어 장치 |
US11/297,363 US7877165B2 (en) | 2004-12-14 | 2005-12-09 | Handshake legged mobile robot control system |
CNB2005101301539A CN100421887C (zh) | 2004-12-14 | 2005-12-12 | 腿式机器人的控制装置 |
EP05027084A EP1671874B1 (en) | 2004-12-14 | 2005-12-12 | Legged mobile robot control system |
HK06110449.0A HK1089998A1 (en) | 2004-12-14 | 2006-09-20 | Control device for a legged robot |
KR1020070069462A KR100807449B1 (ko) | 2004-12-14 | 2007-07-11 | 레그식 로봇의 제어 장치 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004361711A JP4384021B2 (ja) | 2004-12-14 | 2004-12-14 | 脚式ロボットの制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006167841A JP2006167841A (ja) | 2006-06-29 |
JP4384021B2 true JP4384021B2 (ja) | 2009-12-16 |
Family
ID=35892391
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004361711A Expired - Fee Related JP4384021B2 (ja) | 2004-12-14 | 2004-12-14 | 脚式ロボットの制御装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7877165B2 (ja) |
EP (1) | EP1671874B1 (ja) |
JP (1) | JP4384021B2 (ja) |
KR (2) | KR100776849B1 (ja) |
CN (1) | CN100421887C (ja) |
HK (1) | HK1089998A1 (ja) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4456560B2 (ja) * | 2005-12-12 | 2010-04-28 | 本田技研工業株式会社 | 脚式移動ロボット制御装置および脚式移動ロボット、並びに、脚式移動ロボット制御方法 |
KR100843802B1 (ko) * | 2005-12-12 | 2008-07-04 | 혼다 기켄 고교 가부시키가이샤 | 각식 이동 로봇의 제어장치 |
JP5013270B2 (ja) * | 2006-02-02 | 2012-08-29 | 株式会社安川電機 | ロボットシステム |
KR100862190B1 (ko) * | 2006-11-30 | 2008-10-09 | 한국전자통신연구원 | 로봇의 자세 검출 장치 및 그 방법 |
TWI338588B (en) * | 2007-07-31 | 2011-03-11 | Ind Tech Res Inst | Method and apparatus for robot behavior series control based on rfid technology |
JP5104355B2 (ja) * | 2008-02-01 | 2012-12-19 | 富士通株式会社 | ロボット制御装置、ロボット制御方法およびロボット制御プログラム |
JP4998506B2 (ja) * | 2009-04-22 | 2012-08-15 | トヨタ自動車株式会社 | ロボット制御装置、ロボット制御方法、及び脚式ロボット |
US8918212B2 (en) | 2009-06-24 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Arm with a combined shape and force sensor |
KR100989441B1 (ko) * | 2010-02-23 | 2010-10-26 | 김영일 | 적응형 퍼지모델을 이용한 태양광 발전 제어 시스템 및 이를 이용한 최대전력 추정방법 |
JP5633166B2 (ja) * | 2010-03-23 | 2014-12-03 | トヨタ自動車株式会社 | ロボット、及びその制御方法 |
WO2012142587A1 (en) * | 2011-04-15 | 2012-10-18 | Irobot Corporation | Method for path generation for an end effector of a robot |
CN102582714B (zh) * | 2012-01-31 | 2013-08-07 | 山东大学 | 具有负重能力的液压驱动双足机器人下肢机构 |
US9044863B2 (en) | 2013-02-06 | 2015-06-02 | Steelcase Inc. | Polarized enhanced confidentiality in mobile camera applications |
JP6140114B2 (ja) * | 2014-07-31 | 2017-05-31 | ファナック株式会社 | 移動式人協調型ロボット |
JP2016052697A (ja) * | 2014-09-03 | 2016-04-14 | インターマン株式会社 | 人型ロボット |
CN104369192A (zh) * | 2014-11-05 | 2015-02-25 | 深圳市普乐方文化科技有限公司 | 娱乐仿真机器人 |
CN104890756B (zh) * | 2015-06-09 | 2017-04-05 | 江苏科技大学 | 一种三维仿人双足步行机器人的机械结构及行走方法 |
US9694494B1 (en) | 2015-12-11 | 2017-07-04 | Amazon Technologies, Inc. | Feature identification and extrapolation for robotic item grasping |
JP6514156B2 (ja) * | 2016-08-17 | 2019-05-15 | ファナック株式会社 | ロボット制御装置 |
US11221497B2 (en) | 2017-06-05 | 2022-01-11 | Steelcase Inc. | Multiple-polarization cloaking |
JP6936081B2 (ja) * | 2017-08-30 | 2021-09-15 | パナソニック株式会社 | ロボット |
JP7109207B2 (ja) * | 2018-02-23 | 2022-07-29 | パナソニックホールディングス株式会社 | 相互作用装置、相互作用方法、相互作用プログラム及びロボット |
US11106124B2 (en) | 2018-02-27 | 2021-08-31 | Steelcase Inc. | Multiple-polarization cloaking for projected and writing surface view screens |
JP2020121353A (ja) * | 2019-01-29 | 2020-08-13 | 新東工業株式会社 | ロボット |
US11999059B2 (en) | 2020-12-18 | 2024-06-04 | Boston Dynamics, Inc. | Limiting arm forces and torques |
US11931898B2 (en) * | 2020-12-22 | 2024-03-19 | Boston Dynamics, Inc. | Arm and body coordination |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3035051B2 (ja) * | 1991-12-20 | 2000-04-17 | 本田技研工業株式会社 | 脚式移動ロボットの歩行制御装置 |
JP3269852B2 (ja) * | 1992-05-29 | 2002-04-02 | 本田技研工業株式会社 | 脚式移動ロボットの姿勢安定化制御装置 |
CN2199853Y (zh) * | 1994-06-18 | 1995-06-07 | 四川乾坤高新技术研究院 | 礼仪机器人 |
US6505096B2 (en) * | 1996-12-19 | 2003-01-07 | Honda Giken Kogyo Kabushiki Kaisha | Posture control system of legged mobile robot |
JP3672426B2 (ja) | 1996-12-19 | 2005-07-20 | 本田技研工業株式会社 | 脚式移動ロボットの姿勢制御装置 |
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 |
US6421453B1 (en) * | 1998-05-15 | 2002-07-16 | International Business Machines Corporation | Apparatus and methods for user recognition employing behavioral passwords |
JP2003117858A (ja) * | 1999-09-20 | 2003-04-23 | Sony Corp | ロボットの歩行制御装置及び歩行制御方法 |
JP2002154076A (ja) * | 2000-11-17 | 2002-05-28 | Honda Motor Co Ltd | ロボットの腕 |
KR100532685B1 (ko) * | 2000-11-17 | 2005-12-01 | 혼다 기켄 고교 가부시키가이샤 | 레그식 보행 로봇 |
JP2003191188A (ja) | 2001-12-21 | 2003-07-08 | Yamaha Motor Co Ltd | ロボットにおける腕による表現方法および肘関節機構 |
JP4149213B2 (ja) * | 2002-07-12 | 2008-09-10 | 本田技研工業株式会社 | 指示位置検出装置及び自律ロボット |
JP3985623B2 (ja) * | 2002-07-26 | 2007-10-03 | 松下電器産業株式会社 | ロボット |
JP4359423B2 (ja) * | 2002-11-22 | 2009-11-04 | ソニー株式会社 | 脚式移動ロボット及び脚式移動ロボットの足部機構 |
JP3706113B2 (ja) * | 2003-03-24 | 2005-10-12 | 株式会社国際電気通信基礎技術研究所 | コミュニケーションロボット |
JP4231320B2 (ja) | 2003-03-31 | 2009-02-25 | 本田技研工業株式会社 | 移動体の検出装置 |
KR100843802B1 (ko) * | 2005-12-12 | 2008-07-04 | 혼다 기켄 고교 가부시키가이샤 | 각식 이동 로봇의 제어장치 |
-
2004
- 2004-12-14 JP JP2004361711A patent/JP4384021B2/ja not_active Expired - Fee Related
-
2005
- 2005-12-08 KR KR1020050120153A patent/KR100776849B1/ko active IP Right Grant
- 2005-12-09 US US11/297,363 patent/US7877165B2/en not_active Expired - Fee Related
- 2005-12-12 EP EP05027084A patent/EP1671874B1/en not_active Expired - Fee Related
- 2005-12-12 CN CNB2005101301539A patent/CN100421887C/zh not_active Expired - Fee Related
-
2006
- 2006-09-20 HK HK06110449.0A patent/HK1089998A1/xx not_active IP Right Cessation
-
2007
- 2007-07-11 KR KR1020070069462A patent/KR100807449B1/ko active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
CN1788947A (zh) | 2006-06-21 |
US7877165B2 (en) | 2011-01-25 |
EP1671874A3 (en) | 2011-01-26 |
EP1671874A2 (en) | 2006-06-21 |
KR100807449B1 (ko) | 2008-02-25 |
KR20070078102A (ko) | 2007-07-30 |
CN100421887C (zh) | 2008-10-01 |
HK1089998A1 (en) | 2006-12-15 |
KR20060067831A (ko) | 2006-06-20 |
JP2006167841A (ja) | 2006-06-29 |
KR100776849B1 (ko) | 2007-11-16 |
EP1671874B1 (en) | 2012-02-15 |
US20060129278A1 (en) | 2006-06-15 |
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