WO2003057424A1 - Production de demarche pour robot se deplaçant sur des jambes - Google Patents
Production de demarche pour robot se deplaçant sur des jambes Download PDFInfo
- Publication number
- WO2003057424A1 WO2003057424A1 PCT/JP2002/013594 JP0213594W WO03057424A1 WO 2003057424 A1 WO2003057424 A1 WO 2003057424A1 JP 0213594 W JP0213594 W JP 0213594W WO 03057424 A1 WO03057424 A1 WO 03057424A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- floor reaction
- temporary
- motion
- moment
- allowable range
- Prior art date
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)
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE60234790T DE60234790D1 (de) | 2001-12-28 | 2002-12-26 | Gangerzeugungsvorrichtung für beweglichen roboter mit beinen |
JP2003557765A JP3672101B2 (ja) | 2001-12-28 | 2002-12-26 | 脚式移動ロボットの歩容生成装置 |
US10/499,696 US7308336B2 (en) | 2001-12-28 | 2002-12-26 | Gait producing device for leg type movable robot |
KR1020047010278A KR100881609B1 (ko) | 2001-12-28 | 2002-12-26 | 다리식 이동로봇의 보용 생성 장치 |
EP02806077A EP1475197B1 (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 |
---|---|
WO2003057424A1 true WO2003057424A1 (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 (6)
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 |
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 (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006067904A1 (ja) * | 2004-12-24 | 2006-06-29 | Honda Motor Co., Ltd. | 脚式移動ロボットの歩容生成装置 |
Families Citing this family (97)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
US7238079B2 (en) * | 2003-01-14 | 2007-07-03 | Disney Enterprise, Inc. | Animatronic supported walking system |
US20050228540A1 (en) * | 2003-03-23 | 2005-10-13 | Tomohisa Moridaira | 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 |
DE602004029256D1 (de) | 2003-06-27 | 2010-11-04 | Honda Motor Co Ltd | Gangerzeugungsvorrichtung für beweglichen roboter mit beinen |
KR20050005995A (ko) * | 2003-07-08 | 2005-01-15 | 삼성전자주식회사 | 2족 보행 이동 장치의 보행 제어 방법 |
JP4592276B2 (ja) * | 2003-10-24 | 2010-12-01 | ソニー株式会社 | ロボット装置のためのモーション編集装置及びモーション編集方法、並びにコンピュータ・プログラム |
JP4513320B2 (ja) * | 2003-12-17 | 2010-07-28 | ソニー株式会社 | ロボット装置、並びにロボット装置の運動制御方法 |
JP4800037B2 (ja) * | 2004-02-06 | 2011-10-26 | 本田技研工業株式会社 | 移動ロボットの歩容生成装置 |
US7765030B2 (en) | 2004-02-16 | 2010-07-27 | Honda Motor Co., Ltd. | Gait generator for mobile robot |
EP1736286B1 (en) * | 2004-02-27 | 2011-11-30 | Honda Motor Co., Ltd. | Gait producing device for moving robot |
JP4744092B2 (ja) * | 2004-03-23 | 2011-08-10 | 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装置 |
US8060253B2 (en) * | 2004-03-31 | 2011-11-15 | Honda Motor Co., Ltd. | Systems and methods for controlling a legged robot based on rate of change of angular momentum |
JP4613539B2 (ja) * | 2004-07-16 | 2011-01-19 | トヨタ自動車株式会社 | ロボットの動作計画方法 |
JP4410051B2 (ja) * | 2004-07-22 | 2010-02-03 | 本田技研工業株式会社 | 角速度計測装置および脚式移動ロボット |
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 |
JP2006068872A (ja) * | 2004-09-03 | 2006-03-16 | Honda Motor Co Ltd | 脚式移動ロボット |
DE602005021689D1 (de) | 2004-10-15 | 2010-07-15 | Honda Motor Co Ltd | Gangerzeuger für mobilen roboter mit beinen |
JP4531520B2 (ja) * | 2004-10-15 | 2010-08-25 | 本田技研工業株式会社 | 脚式移動ロボットの制御装置 |
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 |
WO2006064597A1 (ja) * | 2004-12-14 | 2006-06-22 | Honda Motor Co., Ltd. | 脚式移動ロボットおよびその制御プログラム |
JP4548135B2 (ja) * | 2005-02-03 | 2010-09-22 | トヨタ自動車株式会社 | 脚式ロボットとその制御方法 |
JP4492395B2 (ja) * | 2005-03-09 | 2010-06-30 | トヨタ自動車株式会社 | 脚式ロボットとその動作制御方法 |
US7835822B2 (en) * | 2005-03-30 | 2010-11-16 | Honda Motor Co., Ltd. | Systems and methods for controlling a legged robot using a two-phase disturbance response strategy |
US7689320B2 (en) * | 2005-12-20 | 2010-03-30 | Intuitive Surgical Operations, Inc. | Robotic surgical system with joint motion controller adapted to reduce instrument tip vibrations |
JP4951732B2 (ja) * | 2006-05-02 | 2012-06-13 | ソニー株式会社 | 駆動方法、駆動制御装置及びロボット |
KR100835354B1 (ko) * | 2006-07-05 | 2008-06-04 | 삼성전자주식회사 | 보행로봇 및 그의 제어방법 |
JP4591419B2 (ja) * | 2006-07-18 | 2010-12-01 | トヨタ自動車株式会社 | ロボットとその制御方法 |
JP4692443B2 (ja) | 2006-09-06 | 2011-06-01 | トヨタ自動車株式会社 | 脚式ロボット |
US8180486B2 (en) | 2006-10-02 | 2012-05-15 | Honda Motor Co., Ltd. | Mobile robot and controller for same |
JP4930003B2 (ja) * | 2006-11-20 | 2012-05-09 | 株式会社日立製作所 | 移動ロボット |
US7949430B2 (en) * | 2006-11-29 | 2011-05-24 | Honda Motor Co., Ltd. | Determination of foot placement for humanoid push recovery |
WO2009040885A1 (ja) * | 2007-09-25 | 2009-04-02 | Fujitsu Limited | 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 |
WO2009067458A1 (en) * | 2007-11-21 | 2009-05-28 | Honda Motor Co., Ltd. | Learning capture points for humanoid push recovery |
KR100958114B1 (ko) * | 2007-12-17 | 2010-05-18 | 한국과학기술연구원 | 인간형 로봇의 보행 안정화 및 자세 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 |
US8332068B2 (en) * | 2008-12-19 | 2012-12-11 | Honda Motor Co., Ltd. | Intelligent stepping for humanoid fall direction change |
TW201031507A (en) * | 2009-02-25 | 2010-09-01 | Micro Star Int Co Ltd | Control apparatus of a multi-axial joint and control method thereof |
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 |
JP5506618B2 (ja) * | 2009-12-28 | 2014-05-28 | 本田技研工業株式会社 | ロボットの制御装置 |
KR101687631B1 (ko) * | 2010-01-18 | 2016-12-20 | 삼성전자주식회사 | 로봇의 보행 제어 장치 및 그 제어 방법 |
US8428780B2 (en) * | 2010-03-01 | 2013-04-23 | Honda Motor Co., Ltd. | External force target generating device of legged mobile robot |
JP5398592B2 (ja) * | 2010-03-01 | 2014-01-29 | 本田技研工業株式会社 | 脚式移動ロボットの運動状態評価装置 |
JP5398589B2 (ja) | 2010-03-01 | 2014-01-29 | 本田技研工業株式会社 | 脚式移動ロボットの目標運動評価装置 |
US8396593B2 (en) | 2010-03-01 | 2013-03-12 | Honda Motor Co., Ltd. | Gait generating device of legged mobile robot |
US9120512B2 (en) | 2010-04-22 | 2015-09-01 | Honda Motor Co., Ltd. | Control device and gait generating device for bipedal mobile robot |
JP5468974B2 (ja) * | 2010-04-22 | 2014-04-09 | 本田技研工業株式会社 | 2足移動ロボットの制御装置及び歩容生成装置 |
KR101200191B1 (ko) * | 2010-07-14 | 2012-11-13 | 서울대학교산학협력단 | 데이터 기반 바이페드 제어 장치 및 방법 |
US8880221B2 (en) * | 2011-03-21 | 2014-11-04 | Honda Motor Co., Ltd. | Damage reduction control for humanoid robot fall |
JP5752500B2 (ja) | 2011-06-27 | 2015-07-22 | 本田技研工業株式会社 | 軌道生成システム |
US20130077820A1 (en) * | 2011-09-26 | 2013-03-28 | Microsoft Corporation | Machine learning gesture detection |
KR20130073591A (ko) * | 2011-12-23 | 2013-07-03 | 삼성전자주식회사 | 지지모듈 및 이를 포함하는 로봇 |
KR101985790B1 (ko) * | 2012-02-21 | 2019-06-04 | 삼성전자주식회사 | 보행 로봇 및 그 제어 방법 |
US9156159B2 (en) * | 2012-03-08 | 2015-10-13 | Disney Enterprises Inc. | Robot cyclic locomotion using a dynamic object |
US9605952B2 (en) * | 2012-03-08 | 2017-03-28 | Quality Manufacturing Inc. | Touch sensitive robotic gripper |
CN102672719B (zh) * | 2012-05-10 | 2014-11-19 | 浙江大学 | 一种仿人机器人手臂作业动态稳定控制方法 |
KR101348404B1 (ko) * | 2012-05-29 | 2014-01-09 | 이학용 | 와이어가이드 및 그를 이용한 구동장치 |
JP5642214B2 (ja) * | 2013-02-15 | 2014-12-17 | 株式会社神戸製鋼所 | 多関節ロボットの弾性変形補償制御装置 |
JP6071815B2 (ja) * | 2013-09-06 | 2017-02-01 | 本田技研工業株式会社 | 脚式移動ロボットの制御装置 |
KR101456797B1 (ko) | 2013-10-10 | 2014-10-31 | 재단법인대구경북과학기술원 | 다리식 이동 로봇의 방향 전환 제어 장치 및 그 방법 |
JP5859036B2 (ja) * | 2014-02-04 | 2016-02-10 | 本田技研工業株式会社 | ロボット |
JP5897644B2 (ja) * | 2014-06-02 | 2016-03-30 | 株式会社神戸製鋼所 | ロボットの制御装置 |
US9618937B1 (en) | 2014-08-25 | 2017-04-11 | Google Inc. | Slip detection using robotic limbs |
US9387896B1 (en) | 2014-08-25 | 2016-07-12 | Google Inc. | Slip avoidance |
US10081098B1 (en) | 2014-08-25 | 2018-09-25 | Boston Dynamics, Inc. | Generalized coordinate surrogates for integrated estimation and control |
US9387588B1 (en) | 2014-08-25 | 2016-07-12 | Google Inc. | Handling gait disturbances with asynchronous timing |
US9623556B1 (en) * | 2014-09-03 | 2017-04-18 | X Development Llc | Robotic sole joint |
JP6228097B2 (ja) * | 2014-10-06 | 2017-11-08 | 本田技研工業株式会社 | 移動ロボット |
US9446518B1 (en) * | 2014-11-11 | 2016-09-20 | Google Inc. | Leg collision avoidance in a robotic device |
US9499218B1 (en) | 2014-12-30 | 2016-11-22 | Google Inc. | Mechanically-timed footsteps for a robotic device |
CN104765372B (zh) * | 2015-03-02 | 2017-11-10 | 湘潭大学 | 一种多足机器人保持直线平动的步态规划方法 |
JP6407409B2 (ja) * | 2015-04-02 | 2018-10-17 | 国立大学法人大阪大学 | 脚型機構体、歩行ロボット、姿勢制御方法及びプログラム |
US9594377B1 (en) | 2015-05-12 | 2017-03-14 | Google Inc. | Auto-height swing adjustment |
JP6450279B2 (ja) * | 2015-08-05 | 2019-01-09 | 本田技研工業株式会社 | 移動ロボットの目標zmp軌道の生成装置 |
US9586316B1 (en) | 2015-09-15 | 2017-03-07 | Google Inc. | Determination of robotic step path |
US9789607B1 (en) | 2015-11-03 | 2017-10-17 | Google Inc. | Achieving a target gait in a legged robot based on steering commands |
US10017218B1 (en) * | 2015-11-11 | 2018-07-10 | Boston Dynamics, Inc. | Achieving a target gait behavior in a legged robot |
CN106741277B (zh) * | 2015-11-20 | 2020-10-30 | 沈阳新松机器人自动化股份有限公司 | 一种混合式机械腿机构 |
JP6498597B2 (ja) * | 2015-12-14 | 2019-04-10 | 本田技研工業株式会社 | 移動ロボットの制御装置 |
US9789919B1 (en) | 2016-03-22 | 2017-10-17 | Google Inc. | Mitigating sensor noise in legged robots |
JP7069155B2 (ja) * | 2017-06-29 | 2022-05-17 | 株式会社ソニー・インタラクティブエンタテインメント | ロボットの制御装置、制御方法および制御プログラム |
JP6823569B2 (ja) * | 2017-09-04 | 2021-02-03 | 本田技研工業株式会社 | 目標zmp軌道の生成装置 |
CN109693234B (zh) * | 2017-10-20 | 2021-08-27 | 深圳市优必选科技有限公司 | 机器人跌倒预测方法、装置、终端设备及计算机存储介质 |
CN109693236B (zh) * | 2017-10-23 | 2021-03-02 | 深圳市优必选科技有限公司 | 足式机器人着地控制方法及装置 |
CN109634100B (zh) * | 2018-12-30 | 2021-11-02 | 深圳市优必选科技有限公司 | 仿人机器人行走加速度补偿方法、装置及仿人机器人 |
CN109856991B (zh) * | 2019-01-22 | 2021-10-15 | 华东师范大学 | 一种基于动能热力分布图的动态虚拟人仿真方法 |
CN110001813B (zh) * | 2019-04-19 | 2021-06-15 | 常州大学 | 一种单足驱动同时能够滚动摩擦与滑动的机器人腿 |
US11292126B2 (en) * | 2019-10-17 | 2022-04-05 | Disney Enterprises, Inc. | Robots with robust bipedal locomotion supported with non-conventional physics |
CN112757295B (zh) * | 2020-12-28 | 2022-03-01 | 武汉远图信息科技有限公司 | 一种基于强化学习的双足机器人重心控制方法与仿真*** |
DE102021112485B3 (de) | 2021-05-12 | 2022-08-11 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zur Balancierung eines Roboters, Verfahren zur Ganzkörpersteuerung eines Roboters, Regler sowie Roboter |
CN113297798B (zh) * | 2021-06-10 | 2022-10-11 | 重庆邮电大学工业互联网研究院 | 一种基于人工神经网络的机器人外界接触力估计方法 |
US11738452B1 (en) * | 2022-07-29 | 2023-08-29 | Sarcos Corp. | Sole with various compliant regions for robots |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000352011A (ja) | 1999-06-11 | 2000-12-19 | Gakunan Koki Kk | 視覚障害者用警告形道路ラインの施工方法 |
EP1120203A1 (en) * | 1998-04-20 | 2001-08-01 | Honda Giken Kogyo Kabushiki Kaisha | Controller for legged mobile robot |
WO2001087548A1 (fr) | 2000-05-19 | 2001-11-22 | Honda Giken Kogyo Kabushiki Kaisha | Dispositif servant a deduire la forme du sol pour robot mobile pourvu de jambes |
Family Cites Families (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08369B2 (ja) * | 1988-08-09 | 1996-01-10 | 工業技術院長 | 歩行脚運動軌跡制御装置 |
JP3078009B2 (ja) | 1990-11-30 | 2000-08-21 | 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 |
JP3148827B2 (ja) | 1992-04-30 | 2001-03-26 | 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 |
US5455497A (en) | 1992-04-20 | 1995-10-03 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot and a system for controlling the same |
JP3233450B2 (ja) | 1992-05-22 | 2001-11-26 | 本田技研工業株式会社 | 指定時刻到達関数発生器 |
JP3132156B2 (ja) * | 1992-05-22 | 2001-02-05 | 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 |
JP3273443B2 (ja) | 1992-05-22 | 2002-04-08 | 本田技研工業株式会社 | ロボットのリンクなどの軌道生成方法及び装置 |
US5644204A (en) * | 1994-11-03 | 1997-07-01 | Nagle; John | Anti-slip control for a legged robot and realisitc simulation of a legged creature |
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 |
JP3662996B2 (ja) * | 1996-01-25 | 2005-06-22 | 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 |
US5872893A (en) | 1996-07-25 | 1999-02-16 | Honda Giken Kogyo Kabushiki Kaisha | Gait generation system of legged mobile robot |
JP3658147B2 (ja) * | 1996-07-25 | 2005-06-08 | 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 |
JP3663034B2 (ja) | 1996-07-25 | 2005-06-22 | 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 |
DE69725764T2 (de) * | 1996-07-25 | 2004-08-05 | Honda Giken Kogyo K.K. | Vorrichtung zur nachbildung des ganges für einen zweibeinigen robotor |
DE69836765T2 (de) * | 1997-01-31 | 2007-10-04 | Honda Giken Kogyo K.K. | Steuergerät eines mit beinen beweglichen roboters |
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 |
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 |
JP3592886B2 (ja) | 1997-04-08 | 2004-11-24 | 同和鉱業株式会社 | 弗化炭素類の分解方法および分解用反応剤 |
US6064168A (en) * | 1998-03-13 | 2000-05-16 | Fanuc Robotics North America, Inc. | Method of controlling robot movement |
JP4660870B2 (ja) * | 1999-11-08 | 2011-03-30 | ソニー株式会社 | 脚式移動ロボット及びその制御方法 |
JP3555107B2 (ja) * | 1999-11-24 | 2004-08-18 | 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動作制御方法 |
JP3615702B2 (ja) * | 1999-11-25 | 2005-02-02 | ソニー株式会社 | 脚式移動ロボットの動作制御装置及び動作制御方法、並びに、脚式移動ロボット |
JP2001260063A (ja) * | 2000-03-21 | 2001-09-25 | Sony Corp | 多関節型ロボット及びその動作制御方法 |
JP2001322079A (ja) * | 2000-05-15 | 2001-11-20 | Sony Corp | 脚式移動ロボット及びその動作教示方法 |
EP1361027B1 (en) * | 2000-11-17 | 2007-01-17 | Honda Giken Kogyo Kabushiki Kaisha | Gait pattern generating device for legged mobile robot |
JP3726032B2 (ja) * | 2001-04-27 | 2005-12-14 | 本田技研工業株式会社 | 脚式移動ロボットの目標運動生成装置 |
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 |
WO2003068455A1 (fr) * | 2002-02-15 | 2003-08-21 | Sony Corporation | Dispositif a jambes pour robot mobile de type a jambes, et procede de commande dudit robot |
US7319919B2 (en) * | 2002-04-26 | 2008-01-15 | Honda Giken Kogyo Kabushiki Kaisha | Control device and footstep determination device for legged mobile robot |
KR100956520B1 (ko) * | 2002-04-26 | 2010-05-06 | 혼다 기켄 고교 가부시키가이샤 | 다리식 이동 로봇의 자기위치 추정 장치 |
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 |
JP4513320B2 (ja) * | 2003-12-17 | 2010-07-28 | ソニー株式会社 | ロボット装置、並びにロボット装置の運動制御方法 |
-
2002
- 2002-12-26 EP EP02806079A patent/EP1466705B1/en not_active Expired - Fee Related
- 2002-12-26 WO PCT/JP2002/013598 patent/WO2003057426A1/ja active Application Filing
- 2002-12-26 DE DE60236460T patent/DE60236460D1/de not_active Expired - Lifetime
- 2002-12-26 JP JP2003557767A patent/JP3674789B2/ja not_active Expired - Lifetime
- 2002-12-26 EP EP02806075A patent/EP1475196B1/en not_active Expired - Fee Related
- 2002-12-26 US US10/499,839 patent/US7496428B2/en active Active
- 2002-12-26 EP EP02806074A patent/EP1475195B1/en not_active Expired - Fee Related
- 2002-12-26 US US10/499,513 patent/US7337039B2/en active Active
- 2002-12-26 DE DE60236546T patent/DE60236546D1/de not_active Expired - Lifetime
- 2002-12-26 WO PCT/JP2002/013595 patent/WO2003057429A1/ja active Application Filing
- 2002-12-26 DE DE60234790T patent/DE60234790D1/de not_active Expired - Lifetime
- 2002-12-26 JP JP2003557771A patent/JP3672103B2/ja not_active Expired - Lifetime
- 2002-12-26 KR KR1020047010274A patent/KR100917184B1/ko active IP Right Grant
- 2002-12-26 DE DE60237041T patent/DE60237041D1/de not_active Expired - Lifetime
- 2002-12-26 KR KR1020047010276A patent/KR100961901B1/ko active IP Right Grant
- 2002-12-26 EP EP02806077A patent/EP1475197B1/en not_active Expired - Fee Related
- 2002-12-26 JP JP2003557770A patent/JP3640255B2/ja not_active Expired - Lifetime
- 2002-12-26 EP EP02792001A patent/EP1470900B1/en not_active Expired - Fee Related
- 2002-12-26 WO PCT/JP2002/013591 patent/WO2003057422A1/ja active Application Filing
- 2002-12-26 JP JP2003557765A patent/JP3672101B2/ja not_active Expired - Lifetime
- 2002-12-26 KR KR1020047010278A patent/KR100881609B1/ko active IP Right Grant
- 2002-12-26 KR KR1020047010281A patent/KR100917181B1/ko active IP Right Grant
- 2002-12-26 US US10/499,517 patent/US7308335B2/en active Active
- 2002-12-26 DE DE60237470T patent/DE60237470D1/de not_active Expired - Lifetime
- 2002-12-26 KR KR1020047010262A patent/KR100889598B1/ko active IP Right Grant
- 2002-12-26 WO PCT/JP2002/013597 patent/WO2003057430A1/ja active Application Filing
- 2002-12-26 US US10/499,936 patent/US7487011B2/en active Active
- 2002-12-26 DE DE60235839T patent/DE60235839D1/de not_active Expired - Lifetime
- 2002-12-26 WO PCT/JP2002/013592 patent/WO2003057423A1/ja active Application Filing
- 2002-12-26 DE DE60236457T patent/DE60236457D1/de not_active Expired - Lifetime
- 2002-12-26 US US10/499,909 patent/US7493192B2/en active Active
- 2002-12-26 KR KR1020047010277A patent/KR100971473B1/ko not_active IP Right Cessation
- 2002-12-26 WO PCT/JP2002/013596 patent/WO2003057425A1/ja active Application Filing
- 2002-12-26 EP EP02806078A patent/EP1466706B1/en not_active Expired - Fee Related
- 2002-12-26 KR KR1020047010283A patent/KR100881608B1/ko not_active IP Right Cessation
- 2002-12-26 JP JP2003557766A patent/JP3672102B2/ja not_active Expired - Lifetime
- 2002-12-26 US US10/499,516 patent/US7319917B2/en active Active
- 2002-12-26 EP EP02792002A patent/EP1475192B1/en not_active Expired - Fee Related
- 2002-12-26 JP JP2003557764A patent/JP3672100B2/ja not_active Expired - Lifetime
- 2002-12-26 US US10/499,696 patent/US7308336B2/en active Active
- 2002-12-26 JP JP2003557763A patent/JP3674788B2/ja not_active Expired - Lifetime
- 2002-12-26 WO PCT/JP2002/013594 patent/WO2003057424A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1120203A1 (en) * | 1998-04-20 | 2001-08-01 | Honda Giken Kogyo Kabushiki Kaisha | Controller for legged mobile robot |
JP2000352011A (ja) | 1999-06-11 | 2000-12-19 | Gakunan Koki Kk | 視覚障害者用警告形道路ラインの施工方法 |
WO2001087548A1 (fr) | 2000-05-19 | 2001-11-22 | Honda Giken Kogyo Kabushiki Kaisha | Dispositif servant a deduire la forme du sol pour robot mobile pourvu de jambes |
Non-Patent Citations (1)
Title |
---|
See also references of EP1475197A4 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006067904A1 (ja) * | 2004-12-24 | 2006-06-29 | Honda Motor Co., Ltd. | 脚式移動ロボットの歩容生成装置 |
US7840309B2 (en) | 2004-12-24 | 2010-11-23 | Honda Motor Co., Ltd. | Gait generating device of legged mobile robot |
KR101214434B1 (ko) | 2004-12-24 | 2012-12-21 | 혼다 기켄 고교 가부시키가이샤 | 다리식 이동 로봇의 보용생성 장치 |
Also Published As
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2003057424A1 (fr) | Production de demarche pour robot se deplaçant sur des jambes | |
WO2003057427A1 (fr) | Dispositif de commande pour robot mobile sur jambes | |
AU2003218436A1 (en) | Prosthetic foot with tunable performance and improved vertical load/shock absorption | |
CA2404927A1 (en) | Tensioner | |
WO2005099398A3 (en) | Gravity compensation control system and method using multiple feasibility parameters | |
WO2007145706A3 (en) | Dynamic spinal stabilization device | |
WO2002074856A3 (de) | Wässrige kunststoff-dispersionen, verfahren zu deren herstellung sowie deren verwendung | |
WO2005119343A3 (en) | Nosed pad assembly for eyeglasses | |
CA2420187A1 (en) | Knee-joint prosthesis with a hydraulic damping cylinder | |
CA2496161A1 (en) | High expansion anchor system | |
EP2206582A8 (en) | Control device of legged mobile robot | |
BR0316048A (pt) | Copolìmero com estrutura controlada e utilização de um copolìmero | |
WO2003056934A3 (en) | Encapsulation by coating with a mixture of lipids and hydrophobic, high melting point compounds | |
WO2002082096A3 (de) | Sensor | |
WO2001094480A3 (en) | Reduction of surface tension | |
CA2419673A1 (en) | Polymeric networks | |
WO2003035792A1 (fr) | Composition exothermique, article exothermique utilisant ladite composition et procede de production dudit article exothermique | |
WO2007089846A3 (en) | Vertebral stabilization assembly and method | |
GB2292203A (en) | Variable spring rate compression element and riser tensioner system using the same | |
MXPA02011470A (es) | Articulacion esferica. | |
TWI266837B (en) | Friction damper | |
WO2007092883A3 (en) | Knee brace and methods of use and modification thereof | |
DE60308825D1 (de) | Sicherheitslagerungsvorrichtung | |
WO2005111529A3 (en) | System and method with adaptive angle-of-attack autopilot | |
WO2002004495A3 (en) | Streptococcus pyogenes antigen |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): JP KR US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): DE FR GB |
|
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2003557765 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 10499696 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1020047010278 Country of ref document: KR |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2002806077 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 2002806077 Country of ref document: EP |