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 PDFInfo
- 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
Links
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。
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)
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)
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 |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
-
2007
- 2007-09-25 WO PCT/JP2007/068581 patent/WO2009040885A1/ja active Application Filing
- 2007-09-25 JP JP2009534076A patent/JP4985776B2/ja not_active Expired - Fee Related
-
2010
- 2010-03-24 US US12/659,897 patent/US8761926B2/en not_active Expired - Fee Related
Patent Citations (2)
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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