BR112016028357A2 - robô humanoide com capacidades de evitar colisão e recuperação de trajetória - Google Patents

robô humanoide com capacidades de evitar colisão e recuperação de trajetória

Info

Publication number
BR112016028357A2
BR112016028357A2 BR112016028357A BR112016028357A BR112016028357A2 BR 112016028357 A2 BR112016028357 A2 BR 112016028357A2 BR 112016028357 A BR112016028357 A BR 112016028357A BR 112016028357 A BR112016028357 A BR 112016028357A BR 112016028357 A2 BR112016028357 A2 BR 112016028357A2
Authority
BR
Brazil
Prior art keywords
robot
obstacle
trajectory
speed
humanoid robot
Prior art date
Application number
BR112016028357A
Other languages
English (en)
Inventor
Garcia Aldenis
Collette Cyrille
Souchet Lucas
Garcia Nicolas
Dalibard Sébastien
Original Assignee
Softbank Robotics Europe
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 Softbank Robotics Europe filed Critical Softbank Robotics Europe
Publication of BR112016028357A2 publication Critical patent/BR112016028357A2/pt

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/003—Manipulators for entertainment
    • B25J11/0035—Dancing, executing a choreography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39091—Avoid collision with moving obstacles
    • 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)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

a invenção refere-se a um robô humanoide que pode mover-se sobre o seu membro inferior para executar uma trajetória. de acordo com a invenção, o robô é capaz de detectar intrusão de obstáculos numa zona de segurança definida em torno do seu corpo em função da sua velocidade. de preferência, quando o robô executa uma trajetória predefinida, por exemplo, uma parte de uma coreografia, o robô que evita a colisão com um obstáculo irá reingressar à sua trajetória original depois de evitar o obstáculo. a trajetória e a velocidade de reencontro do robô são adaptadas para que sejam resincronizadas com a trajetória inicial. vantajosamente, a velocidade das articulações dos membros superiores do robô é adaptada no caso da distância com um obstáculo diminuir abaixo de um mínimo predeterminado. além disso, as articulações são paradas no caso de uma colisão dos membros superiores com o obstáculo é prevista.
BR112016028357A 2014-06-05 2015-06-05 robô humanoide com capacidades de evitar colisão e recuperação de trajetória BR112016028357A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14305850.1A EP2952301B1 (en) 2014-06-05 2014-06-05 Humanoid robot with collision avoidance and trajectory recovery capabilities
PCT/EP2015/062603 WO2015185738A2 (en) 2014-06-05 2015-06-05 Humanoid robot with collision avoidance and trajectory recovery capabilities

Publications (1)

Publication Number Publication Date
BR112016028357A2 true BR112016028357A2 (pt) 2017-08-22

Family

ID=51022794

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112016028357A BR112016028357A2 (pt) 2014-06-05 2015-06-05 robô humanoide com capacidades de evitar colisão e recuperação de trajetória

Country Status (14)

Country Link
US (1) US10179406B2 (pt)
EP (1) EP2952301B1 (pt)
JP (1) JP6567563B2 (pt)
KR (1) KR101986919B1 (pt)
CN (1) CN106573377B (pt)
AU (1) AU2015270458B2 (pt)
BR (1) BR112016028357A2 (pt)
CA (1) CA2950979C (pt)
ES (1) ES2773136T3 (pt)
MX (1) MX2016015824A (pt)
NZ (1) NZ728053A (pt)
RU (1) RU2016152159A (pt)
SG (1) SG11201609651QA (pt)
WO (1) WO2015185738A2 (pt)

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Also Published As

Publication number Publication date
AU2015270458A1 (en) 2016-12-22
AU2015270458B2 (en) 2018-05-10
SG11201609651QA (en) 2016-12-29
KR20170042547A (ko) 2017-04-19
WO2015185738A3 (en) 2016-01-21
CN106573377A (zh) 2017-04-19
CA2950979C (en) 2019-06-04
CN106573377B (zh) 2019-12-10
US20170080565A1 (en) 2017-03-23
EP2952301B1 (en) 2019-12-25
MX2016015824A (es) 2017-10-04
NZ728053A (en) 2018-06-29
EP2952301A1 (en) 2015-12-09
KR101986919B1 (ko) 2019-06-07
JP2017516670A (ja) 2017-06-22
RU2016152159A (ru) 2018-07-10
US10179406B2 (en) 2019-01-15
RU2016152159A3 (pt) 2018-09-05
WO2015185738A2 (en) 2015-12-10
CA2950979A1 (en) 2015-12-10
ES2773136T3 (es) 2020-07-09
JP6567563B2 (ja) 2019-08-28

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