JPH05285866A - Dynamic direction converting method for leg type moving mechanism - Google Patents
Dynamic direction converting method for leg type moving mechanismInfo
- Publication number
- JPH05285866A JPH05285866A JP4087434A JP8743492A JPH05285866A JP H05285866 A JPH05285866 A JP H05285866A JP 4087434 A JP4087434 A JP 4087434A JP 8743492 A JP8743492 A JP 8743492A JP H05285866 A JPH05285866 A JP H05285866A
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- Prior art keywords
- moving mechanism
- leg
- type moving
- walking
- dynamic
- 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.)
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 45
- 238000006243 chemical reaction Methods 0.000 abstract 1
- 230000005484 gravity Effects 0.000 description 8
- 230000003068 static effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 1
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、例えばロボット等の
脚型移動機構の移動に適用される動的方向転換方法に関
するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dynamic direction changing method applied to the movement of a legged moving mechanism such as a robot.
【０００２】[0002]
【従来の技術】脚型移動機構、例えばロボットなどの従
来の歩容（歩き方）は、図５(a)(b)に示すように、脚型
移動機構５１の脚機構51a の支持脚点51b の支持脚領域
５２の中心が同一直線上にあるような歩容であるので、
直線経路５３に沿っての移動は可能であっても障害物５
４が存在すると、避けて通ることが困難であった。2. Description of the Related Art A legged moving mechanism, for example, a conventional gait (walking style) of a robot or the like is shown in FIGS. 5 (a) and 5 (b). Since the center of the support leg region 52 of 51b is on the same straight line,
Even if it is possible to move along the straight path 53, the obstacle 5
The presence of 4 made it difficult to avoid.
【０００３】このため、従来、脚型移動機構５１が障害
物を避けて歩行する場合や進路方向を変更する際には、
重心を常に静的に安定させながら移動する、静的歩行と
呼ばれる方法がとられてきた。Therefore, conventionally, when the legged moving mechanism 51 walks while avoiding an obstacle or when changing the course direction,
A method called static walking has been adopted in which the center of gravity is always statically stabilized and moved.
【０００４】この場合、重心が脚接地点を頂点とする多
角形領域に入っていることが必要であり、そのため脚の
動作範囲が制限されたり、脚の踏み換えを数度試みると
か、最悪の場合は、胴体を一度接地させて脚姿勢を変更
した後歩行動作を再開する必要があるなど、動作が煩雑
で、しかも方向転換動作に多くの時間が掛かる欠点があ
った。In this case, it is necessary that the center of gravity be in a polygonal area having the apex of the ground contact point as the apex, so that the range of motion of the leg is limited, or it is necessary to try to change the leg several times, or at the worst. In this case, there is a drawback in that the movement is complicated and it takes a lot of time to change the direction, such as the need to restart the walking motion after changing the posture of the legs by once grounding the torso.
【０００５】また、動的歩行による経路変更も可能では
あるが、その場合は、本発明の歩行方法と比較するため
に図２(a) に示したように、胴体１ａの姿勢を進行方向
に向けたままで行う必要があるので、前述したように脚
の動作範囲が制限されて、歩行速度を上げることが困難
であった。Although it is possible to change the route by dynamic walking, in this case, as shown in FIG. 2 (a), the posture of the body 1a is changed to the traveling direction for comparison with the walking method of the present invention. Since it is necessary to carry out while facing, it is difficult to increase the walking speed because the range of motion of the legs is limited as described above.
【０００６】しかも、静的、動的歩行のいずれの場合
も、歩容の場合分けが多くあるので、脚型移動機構の制
御アルゴリズムが非常に多くなり、プログラム作成にも
多くの時間と費用を必要しとていた。Moreover, since there are many cases of gaits in both static and dynamic walking, the control algorithm of the leg-type movement mechanism is very large, and much time and cost are required for program creation. I needed it.
【０００７】[0007]
【発明が解決しようとする課題】この発明は上記のよう
な実情に鑑みてなされたもので、脚型移動機構の移動に
おいて、動的歩行による方向変更を可能とし、スムーズ
な動作で、しかも高速の方向転換が可能な脚型移動機構
の動的方向転換方法を提供することを目的としている。SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and in the movement of the leg type moving mechanism, it is possible to change the direction by dynamic walking, smooth operation, and high speed. It is an object of the present invention to provide a dynamic direction changing method of a legged moving mechanism capable of changing the direction.
【０００８】[0008]
【課題を解決するための手段】この発明の脚型移動機構
の動的方向転換方法は、対の支持脚を交互に交差させて
切換えて歩行する動的歩行の脚型移動機構が湾曲した移
動経路を経路に沿って方向転換する場合において、In the method of dynamically changing the leg type moving mechanism of the present invention, the leg type moving mechanism of dynamic walking in which a pair of supporting legs are alternately crossed and changed over is curved. When turning a route along a route,
【０００９】対の二脚支持時に、脚型移動機構の胴体を
経路方向に旋回運動させるとともに脚型移動機構の動的
平衡点（ＺＭＰ）が旋回運動時においても前記対の二支
持脚相互を結ぶ支持脚領域に入るように支持脚を制御し
て方向転換することを特徴としている。At the time of supporting the pair of two legs, the body of the leg type moving mechanism is swung in the path direction, and the dynamic equilibrium point (ZMP) of the leg type moving mechanism moves the pair of two supporting legs to each other even during the turning movement. It is characterized in that the supporting legs are controlled and turned so as to enter the supporting leg region to be connected.
【００１０】[0010]
【作用】このような方向転換方法により、動的平衡点
（ＺＭＰ）が胴体の旋回運動時においても二支持脚相互
を結ぶ支持脚領域に入るようにしているので、移動動作
が安定で、その制御も簡単である。By such a direction changing method, the dynamic equilibrium point (ZMP) is made to enter the supporting leg region connecting the two supporting legs even during the turning motion of the body, so that the movement is stable and It is also easy to control.
【００１１】[0011]
【実施例】以下、図面を参照しながらこの発明の一実施
例を説明する。図１〜図４は、この実施例の移動方法を
説明する説明図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 to 4 are explanatory views for explaining the moving method of this embodiment.
【００１２】図１はこの実施例の歩行方法において、曲
線迂回路を進行する場合の支持脚運動の切換パターンの
説明図で、図２は脚型移動機構の方向転換時における胴
体の平面旋回運動の従来例と同実施例との比較図、図３
は図２に示した各方向転換方法の支持脚の動作軌跡と動
作限界範囲の説明図、図４は多質点モデルの脚型移動機
構に同実施例の動的方向転換方法を適用した場合の説明
図である。図１において、１は脚型移動機構で、この脚
型移動機構の主体をなす胴体１ａと歩行動作を行うため
の四本の支持脚１ｂ〜１ｅにより構成されている。FIG. 1 is an explanatory view of a switching pattern of a supporting leg movement when traveling a curved detour in the walking method of this embodiment, and FIG. 2 is a plane turning movement of a body at the time of changing the direction of a leg type moving mechanism. 3 is a comparative diagram of the conventional example of FIG.
4 is an explanatory view of the movement locus and the movement limit range of the supporting leg of each direction changing method shown in FIG. 2, and FIG. 4 shows the case where the dynamic direction changing method of the embodiment is applied to the leg type moving mechanism of the multi-mass model. FIG. In FIG. 1, reference numeral 1 denotes a leg type moving mechanism, which is composed of a body 1a, which is the main body of the leg type moving mechanism, and four support legs 1b to 1e for performing a walking motion.
【００１３】移動経路２上に例えば、障害物２ｘが存在
して、移動経路２を同図に示すように、曲線的に迂回す
る必要がある場合の、この実施例の脚型移動機構１の歩
行方法は、移動経路２を必要に応じて２ａ〜２ｅに示す
ように複数の線分に分割区分し、この分割区分２ａ〜２
ｅに対応して、対で動作する支持脚１ｂ，１ｃおよび１
ｄ，１ｅの移動経路２に対する接地点３ａ，３ｂおよび
３ｃ，３ｄの位置を交互に切り換えて踏み換え、この分
割区分２ａ〜２ｅに対応させて接地点３ａ，３ｂおよび
３ｃ，３ｄそれぞれを結ぶ支持脚領域３abと３cdの角度
を変更するものである。なお、同図は支持脚１ｂと１ｃ
とが接地点３ａと３ｂにおいて移動経路２上に接地して
いる状態を示している。For example, when an obstacle 2x is present on the moving path 2 and it is necessary to detour the moving path 2 in a curved manner as shown in FIG. In the walking method, the moving route 2 is divided into a plurality of line segments as shown in 2a to 2e as necessary, and the divided sections 2a to 2e are divided.
Corresponding to e, the supporting legs 1b, 1c and 1 operating in pairs
The positions of the grounding points 3a, 3b and 3c, 3d with respect to the moving path 2 of d, 1e are alternately switched and stepped on, and the grounding points 3a, 3b and 3c, 3d are supported corresponding to the divided sections 2a to 2e. The angle between the leg regions 3ab and 3cd is changed. It should be noted that the figure shows support legs 1b and 1c.
And indicate the state of being grounded on the moving path 2 at the grounding points 3a and 3b.
【００１４】また、この実施例の方向転換方法は、上記
した脚型移動機構１が、各分割区分２ａ〜２ｅに対応し
て経路方向を変更する場合において、図２(b) または
(c) に示すように、胴体軌道４の途中で、胴体１ａの姿
勢を進行すべき移動経路２の方向へ転換するようにして
いる。Further, in the direction changing method of this embodiment, when the leg type moving mechanism 1 changes the route direction corresponding to each of the divided sections 2a to 2e, as shown in FIG.
As shown in (c), the posture of the body 1a is changed to the direction of the movement path 2 to be advanced in the middle of the body trajectory 4.
【００１５】同図(b) は経路変更にあたって、静的歩行
状態から動的歩行に移行する際、支持脚領域３abおよび
３cdの角度を変更するとともに、胴体軌道４の変更に並
行して胴体１ａの胴体旋回運動４ａを行う歩行方法であ
る。FIG. 2 (b) shows that when changing the route from the static walking state to the dynamic walking, the angles of the support leg regions 3ab and 3cd are changed, and the body 1a is changed in parallel with the change of the body trajectory 4. This is a walking method for performing the body turning motion 4a.
【００１６】また、同図(c) は、動的歩行区間における
胴体１ａの姿勢は、同図(a) に示す従来の歩行方法と同
様に静的歩行区間と同じ方向を保ち、動的歩行を終了し
た時点で、胴体旋回運動４ａを行い移動経路２の方向変
換を行う歩行方法である。Further, FIG. 2C shows that the posture of the body 1a in the dynamic walking section maintains the same direction as in the static walking section as in the conventional walking method shown in FIG. This is a walking method in which the body turning motion 4a is performed at the time of ending the movement to change the direction of the movement route 2.
【００１７】これらの胴体旋回運動４ａの内、同図(c)
に示す方法は、同図(a) に示した従来の歩行方法と同様
に、動的歩行区間の胴体１ａの姿勢が静的歩行区間と同
じ方向を保っているので、図３(a) に示すように、支持
脚１ｂ，１ｃまたは１ｄ，１ｅによる１ステップで曲れ
る旋回可能角度θが、脚可動範囲５の脚可動限界５ｃで
制約される小さく制限される。Of these body turning movements 4a, FIG.
Similar to the conventional walking method shown in Fig. 3 (a), the method shown in Fig. 3 (a) keeps the posture of the trunk 1a in the same direction as that of the static walking region. As shown, the turnable angle θ that can be bent in one step by the support legs 1b, 1c or 1d, 1e is limited to a small value which is restricted by the leg movable limit 5c of the leg movable range 5.
【００１８】これに対して、同図(b) に示す方法は、胴
体軌道４の変更に並行して胴体旋回運動４ａを行うの
で、図３(b) に示すように、支持脚１ｂ，１ｃまたは１
ｄ，１ｅの脚可動範囲５が脚可動限界５ｃにより制約さ
れることが少なく、１ステップで曲れる旋回可能角度θ
を大きくすることができる。同図において、５ａは、そ
の時点における支持脚の動作軌跡を、５ｂは、そのとき
の遊脚の動作軌跡を表している。On the other hand, in the method shown in FIG. 3 (b), since the body turning motion 4a is performed in parallel with the change of the body trajectory 4, as shown in FIG. 3 (b), the supporting legs 1b, 1c are supported. Or 1
The leg movable range 5 of d and 1e is rarely restricted by the leg movable limit 5c, and the turnable angle θ can be bent in one step.
Can be increased. In the figure, 5a represents the motion locus of the support leg at that time, and 5b represents the motion locus of the free leg at that time.
【００１９】上記したようなと胴体１ａの旋回運動の詳
細を次に説明する。なお、経路移動技術は、ポランシャ
ル法などの従来の経路生成法で実現でき、また、脚先軌
道生成技術も直進歩行が基本であり、従来の歩行技術を
踏襲しているので説明を省略する。The details of the turning motion of the body 1a will be described below. Note that the route movement technique can be realized by a conventional route generation method such as the polar method, and the leg trajectory generation technique is basically a straight forward step, and the description is omitted because it follows the conventional walking technique.
【００２０】脚型移動機構１を質量が胴体１ａに集中
（支持脚１ｂ〜１ｅの質量が胴体１ａの質量と比べて慣
性を無視できる程度に軽いか、または、支持脚１ｂ〜１
ｅの動作が慣性に影響するほど早くない）した多質点系
として、歩行動作中の動的平衡を考える。The mass of the leg type moving mechanism 1 is concentrated on the body 1a (the mass of the supporting legs 1b to 1e is lighter than the mass of the body 1a so that the inertia can be ignored, or the supporting legs 1b to 1b).
Consider the dynamic equilibrium during a walking motion as a multi-mass system in which the motion of e is not so fast as to affect inertia.
【００２１】この動的平衡を考察するに当って、移動経
路２上に、図４に示すような三次元の座標系Ｘ，Ｙ，Ｚ
設定する。この座標系において、脚型移動機構１の多質
点のｉ番目質点の質量をｍi とし、その位置をＳi と
し、ｋ番目の外力の力をＦk 、その作用点位置をＳk と
する。また各質点に作用する重力加速度をｇとする。ま
た、この動的平衡の動的平衡点ＳＭＰ（ゼロモーメント
点で、この点周りのモーメントの水平成分は釣合ってい
る）の位置をＳz とする。このような動的平衡の並進運
動バランスと回転運動バランスはそれぞれ次のよ で表現できる。また、外力の作用点位置Ｓk を、Ｓk ＝
Ｓz ＋Ｓk ’と分けると、動的平衡点ＺＭＰの前記した
性質で、水平成分のモーメントは釣合い状態であるの
で、 （Σk Ｓk ’・Ｆk ）の水平成分＝０………………(3) したがって、これら(1) 〜(3) 式から水平方向のモーメ
ントバランスは次式で In considering the dynamic equilibrium, a three-dimensional coordinate system X, Y, Z as shown in FIG.
Set. In this coordinate system, the mass of the i-th mass point of the multi-mass point of the legged moving mechanism 1 is mi, its position is Si, the force of the k-th external force is Fk, and its action point position is Sk. Further, g is the gravitational acceleration acting on each mass point. The position of the dynamic equilibrium point SMP of this dynamic equilibrium (at the zero moment point, the horizontal components of the moment around this point are balanced) is Sz. The translational balance and rotational balance of such dynamic equilibrium are as follows. Can be expressed as In addition, the position Sk of the point of application of the external force is given by Sk =
If it is divided into Sz + Sk ', the horizontal component moment is in a balanced state due to the above-mentioned property of the dynamic equilibrium point ZMP, so that the horizontal component of (Σ k Sk' Fk) = 0 ......... (3 ) Therefore, from these equations (1) to (3), the horizontal moment balance is
【００２２】この(4) 式は水平成分である。さらに、Ｓ
z をｘz ，ｙz と座標成分に分解す で表現できる。ここで、胴体１ａの高さが一定になるよ
う歩行運動に拘束条件を与える。さらに、質点位置Ｓi
を重心１ｆの位置Ｓg を経由した形で表すと、 Ｓi ＝Ｓg ＋Ｓi' 但し、Ｓg ＝（ｘg ，ｙg ，ｚg ），Ｓi'＝（Δｘi ，
Δｙi ，Δｚi ）で表現 となり、脚型移動機構１のＺＭＰの位置（ｘz ，ｙz ）
が支持脚領域３ab，３cdの内に収まるように、重心の並
進運動のみを決定すればよい。This equation (4) is a horizontal component. Furthermore, S
decompose z into xz, yz and coordinate components Can be expressed as Here, a constraint condition is given to the walking motion so that the height of the body 1a becomes constant. Furthermore, the mass position Si
Is expressed in a form passing through the position Sg of the center of gravity 1f, Si = Sg + Si ', where Sg = (xg, yg, zg), Si' = (Δxi,
Represented by Δyi, Δzi) Then, the ZMP position (xz, yz) of the legged moving mechanism 1
It suffices to determine only the translational motion of the center of gravity so that the position of the center of gravity is within the support leg regions 3ab and 3cd.
【００２３】また上記したように、支持脚１ｂ〜１ｅの
慣性が無視できる条件で、胴体１ａの高さを一定にすれ
ば、上記の式から胴体１ａを重心１ｆが通る垂直軸周り
に旋回運動させても、並進運動の安定性に直接影響しな
いことが分かる。Further, as described above, if the height of the body 1a is kept constant under the condition that the inertia of the supporting legs 1b to 1e can be ignored, the body 1a can be swung about the vertical axis passing the center of gravity 1f from the above equation. It can be seen that even if it is done, it does not directly affect the stability of the translational motion.
【００２４】したがって、動的歩行時の旋回動作は、胴
体１ａの旋回角度を適当な時間関数として与え、この胴
体１ａの旋回動作と支持脚１ｂ〜１ｅの歩行動作とを連
動制御することで、従来の直進動的歩行の技術を適用し
て、障害物２ｘを迂回するような曲線的な移動経路２を
移動するための、安定でかつ速やかな動的歩行動作が可
能になる。なお、この発明は上記実施例に限定されるも
のではなく、要旨を変更しない範囲で変形して実施でき
る。Therefore, in the turning motion during dynamic walking, the turning angle of the body 1a is given as an appropriate time function, and the turning motion of the body 1a and the walking motions of the support legs 1b to 1e are controlled in conjunction with each other, By applying the conventional straight-ahead dynamic walking technique, it is possible to perform a stable and quick dynamic walking motion for moving along the curved moving path 2 that bypasses the obstacle 2x. The present invention is not limited to the above-mentioned embodiments, and can be modified and carried out without changing the gist.
【００２５】[0025]
【発明の効果】この発明によれば、動的歩行時において
方向転換が可能になり、障害物を迂回するなどの動作を
従来のような静的歩行に比べて簡単に、かつ短時間でス
ムーズに行うことができる。According to the present invention, it becomes possible to change the direction during dynamic walking, and movements such as bypassing obstacles are smoother and easier than conventional static walking in a short time. Can be done.
【００２６】また、この発明の動的方向転換方法によれ
ば、支持脚のストローク拘束条件が少なくて済み、した
がって、１ステップで旋回する角度を大きくとれるの
で、曲率のきつい旋回経路を移動させる場合に特に有効
である。Further, according to the dynamic direction changing method of the present invention, the condition for restraining the stroke of the support leg is small, and therefore the turning angle can be made large in one step. Therefore, when the turning path having a large curvature is moved. Especially effective for.
【図１】この発明の一実施例の動的方向転換方法におけ
る支持脚領域の切換パターンの説明図。FIG. 1 is an explanatory diagram of a switching pattern of a support leg region in a dynamic direction changing method according to an embodiment of the present invention.
【図２】脚型移動機構の胴体平面運動の従来例と同実施
例との比較図。FIG. 2 is a comparative diagram of a conventional example and a same example of a plane movement of a body of a leg type moving mechanism.
【図３】図２に示した各方向転換方法の支持脚の動作軌
跡と動作限界範囲の説明図。FIG. 3 is an explanatory view of a motion locus and a motion limit range of a support leg of each of the direction changing methods shown in FIG.
【図４】多質点モデルの脚型移動機構に同実施例の動的
方向転換方法を適用した場合の説明図。FIG. 4 is an explanatory view when the dynamic direction changing method of the embodiment is applied to a leg type moving mechanism of a multi-mass model.
【図５】従来の脚型移動機構の動的歩行方法の説明図。FIG. 5 is an explanatory view of a conventional dynamic walking method of a legged moving mechanism.
１…脚型移動機構、１ａ…胴体、１ｂ，１ｃ，１ｄ，１
ｅ…支持脚、１ｆ…重心、２…移動経路、２ａ，２ｂ，
２ｃ，２ｄ，２ｅ…分割区分、２ｘ…障害物３ａ，３ｂ
…接地点、３ab，３cd…支持領域、４…胴体軌道、４ａ
…胴体旋回運動、５…脚可動範囲、５ａ…支持脚軌跡、
５ｂ…遊脚軌跡、５ｃ…脚可動限界、Ｘ，Ｙ，Ｚ…地上
座標系、ｍi …質点、Ｆk …外力、ｇ…重力加速度、Ｚ
ＭＰ…動的平衡点、Ｓi …質点位置、Ｓk …外力位置、
Ｓz …ＺＭＰ位置。1 ... Leg type moving mechanism, 1a ... Body, 1b, 1c, 1d, 1
e ... Support legs, 1f ... Center of gravity, 2 ... Movement path, 2a, 2b,
2c, 2d, 2e ... division division, 2x ... obstacles 3a, 3b
… Ground points, 3ab, 3cd… Support area, 4… Fuselage track, 4a
… Torso turning motion, 5… Leg movable range, 5a… Support leg trajectory,
5b ... Free leg locus, 5c ... Leg movement limit, X, Y, Z ... Ground coordinate system, mi ... Mass point, Fk ... External force, g ... Gravity acceleration, Z
MP ... dynamic equilibrium point, Si ... mass point position, Sk ... external force position,
Sz ... ZMP position.
Claims (1)
行する動的歩行の脚型移動機構が湾曲した移動経路を経
路に沿って方向転換する場合において、 前記対の二脚支持時に、前記脚型移動機構の胴体を経路
方向に旋回運動させるとともに、脚型移動機構の動的平
衡点（ＺＭＰ）が前記旋回運動時においても前記対の二
支持脚相互を結ぶ支持脚領域に入るように前記支持脚を
制御して方向転換することを特徴とした脚型移動機構の
動的方向転換方法。1. In a case where a leg-type moving mechanism for dynamic walking, in which a pair of supporting legs are alternately crossed and switched, changes the direction of a curved moving route along the route, at the time of supporting the pair of two legs. , The body of the leg type moving mechanism is caused to pivot in the path direction, and the dynamic equilibrium point (ZMP) of the leg type moving mechanism enters the support leg region connecting the pair of two support legs even during the pivoting movement. A method for dynamically changing the direction of a leg-type moving mechanism, characterized in that the supporting leg is controlled to change its direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4087434A JPH05285866A (en) | 1992-04-09 | 1992-04-09 | Dynamic direction converting method for leg type moving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4087434A JPH05285866A (en) | 1992-04-09 | 1992-04-09 | Dynamic direction converting method for leg type moving mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH05285866A true JPH05285866A (en) | 1993-11-02 |
Family
ID=13914768
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4087434A Withdrawn JPH05285866A (en) | 1992-04-09 | 1992-04-09 | Dynamic direction converting method for leg type moving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH05285866A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006026828A (en) * | 2004-07-16 | 2006-02-02 | Toyota Motor Corp | Programming method for robot movement |
| JP2011194539A (en) * | 2010-03-23 | 2011-10-06 | Toyota Motor Corp | Robot and method of controlling the same |
| JP2016068186A (en) * | 2014-09-29 | 2016-05-09 | 本田技研工業株式会社 | Control apparatus of mobile robot |
-
1992
- 1992-04-09 JP JP4087434A patent/JPH05285866A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006026828A (en) * | 2004-07-16 | 2006-02-02 | Toyota Motor Corp | Programming method for robot movement |
| JP4613539B2 (en) * | 2004-07-16 | 2011-01-19 | トヨタ自動車株式会社 | Robot motion planning method |
| JP2011194539A (en) * | 2010-03-23 | 2011-10-06 | Toyota Motor Corp | Robot and method of controlling the same |
| JP2016068186A (en) * | 2014-09-29 | 2016-05-09 | 本田技研工業株式会社 | Control apparatus of mobile robot |
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