BR112013004674A2 - Robõ humanóide com capacidade de gerenciamento de quedas e métodos para gerir as ditas quedas - Google Patents

Robõ humanóide com capacidade de gerenciamento de quedas e métodos para gerir as ditas quedas

Info

Publication number
BR112013004674A2
BR112013004674A2 BR112013004674A BR112013004674A BR112013004674A2 BR 112013004674 A2 BR112013004674 A2 BR 112013004674A2 BR 112013004674 A BR112013004674 A BR 112013004674A BR 112013004674 A BR112013004674 A BR 112013004674A BR 112013004674 A2 BR112013004674 A2 BR 112013004674A2
Authority
BR
Brazil
Prior art keywords
falls
managing
humanoid robot
fall management
methods
Prior art date
Application number
BR112013004674A
Other languages
English (en)
Inventor
David Gouaillier
Original Assignee
Aldebaran Robotics
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 Aldebaran Robotics filed Critical Aldebaran Robotics
Publication of BR112013004674A2 publication Critical patent/BR112013004674A2/pt

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • B25J9/00—Programme-controlled manipulators
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/30—Monitoring
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Quality & Reliability (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

robô humanóide com capacidade de gerenciamento de quedas e método para gerir as ditas quedas. a invenção refere-se a um robô humanóide com capacidades particulares para gerenciamento de quedas. os riscos de quedas limitam o desenvolvimento da utilização pelo público em geral dos robôs humanóides. na invenção anterior, as modalidades para a deteção de quedas não se adaptaram convenientemente aos casos de robô muito dinâmicos visto que o centro da massa está muitas vezes fora dos polígonos de suporte. as modalidades para gerir as quedas eram também mal adequadas para os robôs, os quais devem ser econômicos nos seus recursos de computação. de acordo com a invenção, o polígono de suporte convencional é complementado com efetores para os quais é determinado que estejam suficientemente perto do chão. são implementadas estratégias de proteção, escolhidas a partir de um conjunto de estratégias definidas por uma classificação dos ângulos das quedas.
BR112013004674A 2010-08-27 2011-08-11 Robõ humanóide com capacidade de gerenciamento de quedas e métodos para gerir as ditas quedas BR112013004674A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1056798A FR2964055B1 (fr) 2010-08-27 2010-08-27 Robot humanoide dote de capacites de gestion de chutes et methode de gestion desdites chutes
PCT/EP2011/063801 WO2012025387A1 (fr) 2010-08-27 2011-08-11 Robot humanoide dote de capacites de gestion de chutes et methode de gestion desdites chutes

Publications (1)

Publication Number Publication Date
BR112013004674A2 true BR112013004674A2 (pt) 2024-01-16

Family

ID=43829315

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112013004674A BR112013004674A2 (pt) 2010-08-27 2011-08-11 Robõ humanóide com capacidade de gerenciamento de quedas e métodos para gerir as ditas quedas

Country Status (9)

Country Link
US (1) US9429948B2 (pt)
EP (1) EP2608997B1 (pt)
JP (1) JP6007908B2 (pt)
KR (1) KR101882532B1 (pt)
CN (1) CN103124669B (pt)
BR (1) BR112013004674A2 (pt)
ES (1) ES2454554T3 (pt)
FR (1) FR2964055B1 (pt)
WO (1) WO2012025387A1 (pt)

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US9308648B2 (en) * 2014-07-24 2016-04-12 Google Inc. Systems and methods for robotic self-right
US9499219B1 (en) * 2014-08-25 2016-11-22 Google Inc. Touch-down sensing for robotic devices
JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
US9555846B1 (en) 2015-03-20 2017-01-31 Google Inc. Pelvis structure for humanoid robot
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US9594377B1 (en) * 2015-05-12 2017-03-14 Google Inc. Auto-height swing adjustment
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WO2018198480A1 (ja) * 2017-04-28 2018-11-01 ソニー株式会社 制御装置、および制御方法
CN108724170B (zh) * 2017-08-15 2021-04-16 北京猎户星空科技有限公司 防止机器人倾倒的方法、装置、机器人及存储介质
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
US10807246B2 (en) * 2018-01-08 2020-10-20 Beijing Jingdong Shangke Information Technology Co., Ltd. Mobile robotic device and method of controlling the same manipulator for locomotion and manipulation
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
CN109849999B (zh) * 2019-03-29 2020-11-20 联想(北京)有限公司 一种可移动装置及处理方法
CN110936380B (zh) * 2019-12-11 2024-01-16 桂林凯歌信息科技有限公司 碰撞防摔机器人及其控制方法
US11407109B2 (en) * 2020-04-16 2022-08-09 Boston Dynamics, Inc. Global arm path planning with roadmaps and precomputed domains
CN111730605B (zh) * 2020-08-04 2020-12-15 深圳市优必选科技股份有限公司 一种机器人姿态控制方法、装置、可读存储介质及机器人
CN112859904A (zh) * 2021-01-25 2021-05-28 乐聚(深圳)机器人技术有限公司 机器人站立姿态的恢复方法、装置、设备及存储介质
CN113146621B (zh) * 2021-03-17 2022-07-15 深圳市优必选科技股份有限公司 机器人控制方法、装置、机器人及计算机可读存储介质
CN113120109B (zh) * 2021-04-12 2022-04-08 北京理工大学 一种轮足复合仿人机器人的辅助支撑结构及其控制方法
CN113858207B (zh) * 2021-10-27 2023-06-09 乐聚(深圳)机器人技术有限公司 人形机器人的倒地控制方法、装置、电子设备及存储介质
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Also Published As

Publication number Publication date
CN103124669B (zh) 2016-06-29
US20130231822A1 (en) 2013-09-05
ES2454554T3 (es) 2014-04-10
FR2964055A1 (fr) 2012-03-02
JP2013540057A (ja) 2013-10-31
WO2012025387A1 (fr) 2012-03-01
CN103124669A (zh) 2013-05-29
US9429948B2 (en) 2016-08-30
FR2964055B1 (fr) 2012-08-17
EP2608997B1 (fr) 2013-12-25
EP2608997A1 (fr) 2013-07-03
JP6007908B2 (ja) 2016-10-19
KR101882532B1 (ko) 2018-07-26
KR20140037786A (ko) 2014-03-27

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Legal Events

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B08F Application dismissed because of non-payment of annual fees [chapter 8.6 patent gazette]

Free format text: REFERENTE AS 9A, 10A, 11A E 12A ANUIDADES.