WO2009040885A1 - 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 - Google Patents

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 Download PDF

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Publication number
WO2009040885A1
WO2009040885A1 PCT/JP2007/068581 JP2007068581W WO2009040885A1 WO 2009040885 A1 WO2009040885 A1 WO 2009040885A1 JP 2007068581 W JP2007068581 W JP 2007068581W WO 2009040885 A1 WO2009040885 A1 WO 2009040885A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot control
reflection control
zmp
robot
gyro
Prior art date
Application number
PCT/JP2007/068581
Other languages
English (en)
French (fr)
Inventor
Riadh Zaier
Original Assignee
Fujitsu Limited
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 Fujitsu Limited filed Critical Fujitsu Limited
Priority to PCT/JP2007/068581 priority Critical patent/WO2009040885A1/ja
Priority to JP2009534076A priority patent/JP4985776B2/ja
Publication of WO2009040885A1 publication Critical patent/WO2009040885A1/ja
Priority to US12/659,897 priority patent/US8761926B2/en

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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

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

　ロボットの上半身に外力が加えられた場合に、反射制御部（１２３ｄ）が、ジャイロインデックスを用いて反射制御が必要であるか否かを判定し、反射制御が必要と判定した場合には、ＺＭＰの位置、ＺＭＰの位置変化量およびロボットが片脚立ちか両脚立ちかに基づいて適切な反射制御を行う。なお、ジャイロインデックスは、ジャイロセンサによって検出される横向き（ローリング）方向および前後（ピッチング）方向の胴体の回転角度から算出され、ＺＭＰの位置は足裏に設けられた力センサによって検出される力から算出される。
PCT/JP2007/068581 2007-09-25 2007-09-25 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 WO2009040885A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/JP2007/068581 WO2009040885A1 (ja) 2007-09-25 2007-09-25 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
JP2009534076A JP4985776B2 (ja) 2007-09-25 2007-09-25 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
US12/659,897 US8761926B2 (en) 2007-09-25 2010-03-24 Apparatus and method for robot control

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2007/068581 WO2009040885A1 (ja) 2007-09-25 2007-09-25 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

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/659,897 Continuation US8761926B2 (en) 2007-09-25 2010-03-24 Apparatus and method for robot control

Publications (1)

Publication Number Publication Date
WO2009040885A1 true WO2009040885A1 (ja) 2009-04-02

Family

ID=40510798

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/068581 WO2009040885A1 (ja) 2007-09-25 2007-09-25 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

Country Status (3)

Country Link
US (1) US8761926B2 (ja)
JP (1) JP4985776B2 (ja)
WO (1) WO2009040885A1 (ja)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4957753B2 (ja) * 2009-06-15 2012-06-20 セイコーエプソン株式会社 ロボット、搬送装置、及び慣性センサーを用いた制御方法
KR20130078886A (ko) * 2012-01-02 2013-07-10 현대자동차주식회사 보행로봇의 균형제어방법
US9592608B1 (en) * 2014-12-15 2017-03-14 X Development Llc Methods and systems for providing feedback during teach mode
US9919422B1 (en) 2016-01-06 2018-03-20 X Development Llc Methods and systems to provide mechanical feedback during movement of a robotic system
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

Citations (2)

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Publication number Priority date Publication date Assignee Title
JP2004167666A (ja) * 2002-08-30 2004-06-17 Sony Corp ロボット装置及びその動作制御方法
JP2006175567A (ja) * 2004-12-24 2006-07-06 Honda Motor Co Ltd 脚式移動ロボットの制御装置

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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
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
EP1466705B1 (en) * 2001-12-28 2010-05-19 Honda Giken Kogyo Kabushiki Kaisha Gait producing device for leg type movable robot, and control device
JP3569767B2 (ja) * 2002-06-12 2004-09-29 独立行政法人 科学技術振興機構 歩行式ロボット
CN1649698A (zh) * 2002-03-18 2005-08-03 索尼株式会社 机器人设备、腿式移动机器人的运动控制设备和方法、腿式移动机器人的传感器***和移动单元
KR100956520B1 (ko) * 2002-04-26 2010-05-06 혼다 기켄 고교 가부시키가이샤 다리식 이동 로봇의 자기위치 추정 장치
JP3922974B2 (ja) * 2002-06-13 2007-05-30 西部電機株式会社 ワイヤ放電加工機におけるワイヤ自動供給装置
US6999851B2 (en) * 2002-08-30 2006-02-14 Sony Corporation Robot apparatus and motion controlling method therefor
EP1552908A4 (en) * 2002-10-11 2008-10-15 Fujitsu Ltd DEVICE FOR CREATING A ROBOT CONTROL ALGORITHM, PROGRAM FOR CREATING A ROBOT CONTROL ALGORITHM, ROBOT CONTROL PROGRAM AND ROBOT
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
JP4587738B2 (ja) * 2003-08-25 2010-11-24 ソニー株式会社 ロボット装置及びロボットの姿勢制御方法
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
JP4818716B2 (ja) * 2005-12-27 2011-11-16 富士通株式会社 ロボット制御装置
JP4836592B2 (ja) * 2006-02-09 2011-12-14 ソニー株式会社 ロボット装置及びその制御方法
JP5135832B2 (ja) * 2007-03-15 2013-02-06 ソニー株式会社 振動型ジャイロセンサ、制御回路、電子機器及び振動型ジャイロセンサの製造方法
US8005635B2 (en) * 2007-08-14 2011-08-23 Ching-Fang Lin Self-calibrated azimuth and attitude accuracy enhancing method and system (SAAAEMS)
US8571745B2 (en) * 2008-04-10 2013-10-29 Robert Todd Pack Advanced behavior engine
JP5181957B2 (ja) * 2008-09-16 2013-04-10 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

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004167666A (ja) * 2002-08-30 2004-06-17 Sony Corp ロボット装置及びその動作制御方法
JP2006175567A (ja) * 2004-12-24 2006-07-06 Honda Motor Co Ltd 脚式移動ロボットの制御装置

Also Published As

Publication number Publication date
JPWO2009040885A1 (ja) 2011-01-13
US8761926B2 (en) 2014-06-24
JP4985776B2 (ja) 2012-07-25
US20100286822A1 (en) 2010-11-11

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