WO2003057422A1 - Dispositif generateur d'allure pour robot mobile a jambes - Google Patents

Dispositif generateur d'allure pour robot mobile a jambes Download PDF

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Publication number
WO2003057422A1
WO2003057422A1 PCT/JP2002/013591 JP0213591W WO03057422A1 WO 2003057422 A1 WO2003057422 A1 WO 2003057422A1 JP 0213591 W JP0213591 W JP 0213591W WO 03057422 A1 WO03057422 A1 WO 03057422A1
Authority
WO
WIPO (PCT)
Prior art keywords
target
robot
vertical position
type movable
determining
Prior art date
Application number
PCT/JP2002/013591
Other languages
English (en)
French (fr)
Inventor
Toru Takenaka
Takashi Matsumoto
Takahide Yoshiike
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
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 Giken Kogyo Kabushiki Kaisha filed Critical Honda Giken Kogyo Kabushiki Kaisha
Priority to DE60236546T priority Critical patent/DE60236546D1/de
Priority to KR1020047010283A priority patent/KR100881608B1/ko
Priority to EP02806074A priority patent/EP1475195B1/en
Priority to JP2003557763A priority patent/JP3674788B2/ja
Priority to US10/499,513 priority patent/US7337039B2/en
Publication of WO2003057422A1 publication Critical patent/WO2003057422A1/ja

Links

Classifications

    • 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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
PCT/JP2002/013591 2001-12-28 2002-12-26 Dispositif generateur d'allure pour robot mobile a jambes WO2003057422A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE60236546T DE60236546D1 (de) 2001-12-28 2002-12-26 Gangerzeugungsvorrichtung für beweglichen roboter mit beinen
KR1020047010283A KR100881608B1 (ko) 2001-12-28 2002-12-26 다리식 이동로봇의 보용 생성 장치
EP02806074A EP1475195B1 (en) 2001-12-28 2002-12-26 Gait producing device for leg type movable robot
JP2003557763A JP3674788B2 (ja) 2001-12-28 2002-12-26 脚式移動ロボットの歩容生成装置
US10/499,513 US7337039B2 (en) 2001-12-28 2002-12-26 Gait producing device for leg type movable robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001399496 2001-12-28
JP2001-399496 2001-12-28

Publications (1)

Publication Number Publication Date
WO2003057422A1 true WO2003057422A1 (fr) 2003-07-17

Family

ID=19189479

Family Applications (7)

Application Number Title Priority Date Filing Date
PCT/JP2002/013598 WO2003057426A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot mobile a jambes
PCT/JP2002/013595 WO2003057429A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes
PCT/JP2002/013591 WO2003057422A1 (fr) 2001-12-28 2002-12-26 Dispositif generateur d'allure pour robot mobile a jambes
PCT/JP2002/013597 WO2003057430A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche et dispositif de commande pour robot mobile du type a jambes
PCT/JP2002/013592 WO2003057423A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes
PCT/JP2002/013596 WO2003057425A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes, et dispositif de commande
PCT/JP2002/013594 WO2003057424A1 (fr) 2001-12-28 2002-12-26 Production de demarche pour robot se deplaçant sur des jambes

Family Applications Before (2)

Application Number Title Priority Date Filing Date
PCT/JP2002/013598 WO2003057426A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot mobile a jambes
PCT/JP2002/013595 WO2003057429A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes

Family Applications After (4)

Application Number Title Priority Date Filing Date
PCT/JP2002/013597 WO2003057430A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche et dispositif de commande pour robot mobile du type a jambes
PCT/JP2002/013592 WO2003057423A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes
PCT/JP2002/013596 WO2003057425A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes, et dispositif de commande
PCT/JP2002/013594 WO2003057424A1 (fr) 2001-12-28 2002-12-26 Production de demarche pour robot se deplaçant sur des jambes

Country Status (6)

Country Link
US (7) US7496428B2 (ja)
EP (7) EP1466705B1 (ja)
JP (7) JP3674789B2 (ja)
KR (7) KR100917184B1 (ja)
DE (7) DE60236460D1 (ja)
WO (7) WO2003057426A1 (ja)

Cited By (4)

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Publication number Priority date Publication date Assignee Title
WO2006040868A1 (ja) 2004-10-15 2006-04-20 Honda Motor Co., Ltd. 脚式移動ロボットの歩容生成装置
EP2172312A1 (en) 2004-08-02 2010-04-07 Honda Motor Co., Ltd. Gait generating system and control device of legged mobile robot
US7840309B2 (en) 2004-12-24 2010-11-23 Honda Motor Co., Ltd. Gait generating device of legged mobile robot
US7848849B2 (en) 2004-10-15 2010-12-07 Honda Motor Co., Ltd. Controller of leg type moving robot

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EP1473122B1 (en) * 2001-12-28 2010-10-13 Honda Giken Kogyo Kabushiki Kaisha Gait generation device for legged mobile robot
EP1466705B1 (en) * 2001-12-28 2010-05-19 Honda Giken Kogyo Kabushiki Kaisha Gait producing device for leg type movable robot, and control device
EP1475198B1 (en) * 2002-01-18 2007-05-23 Honda Giken Kogyo Kabushiki Kaisha Controller of legged mobile robot
KR100956520B1 (ko) * 2002-04-26 2010-05-06 혼다 기켄 고교 가부시키가이샤 다리식 이동 로봇의 자기위치 추정 장치
EP1502711B1 (en) 2002-04-26 2011-02-23 Honda Giken Kogyo Kabushiki Kaisha Control device of legged mobile robot
JP3599244B2 (ja) 2002-11-06 2004-12-08 ソニー株式会社 ロボット装置、ロボット装置の運動制御装置並びに運動制御方法
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Cited By (6)

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EP2172312A1 (en) 2004-08-02 2010-04-07 Honda Motor Co., Ltd. Gait generating system and control device of legged mobile robot
EP2177324A1 (en) 2004-08-02 2010-04-21 Honda Motor Co., Ltd. Gait generating system and control device of legged mobile robot
US7991508B2 (en) 2004-08-02 2011-08-02 Honda Motor Co., Ltd. Gait generating system and control device of legged mobile robot
WO2006040868A1 (ja) 2004-10-15 2006-04-20 Honda Motor Co., Ltd. 脚式移動ロボットの歩容生成装置
US7848849B2 (en) 2004-10-15 2010-12-07 Honda Motor Co., Ltd. Controller of leg type moving robot
US7840309B2 (en) 2004-12-24 2010-11-23 Honda Motor Co., Ltd. Gait generating device of legged mobile robot

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US20050065646A1 (en) 2005-03-24
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US7308335B2 (en) 2007-12-11
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US7487011B2 (en) 2009-02-03
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