BR112018071792A2 - robô móvel com capacidades de movimento equilibrado e de comportamento melhoradas - Google Patents

robô móvel com capacidades de movimento equilibrado e de comportamento melhoradas

Info

Publication number
BR112018071792A2
BR112018071792A2 BR112018071792-4A BR112018071792A BR112018071792A2 BR 112018071792 A2 BR112018071792 A2 BR 112018071792A2 BR 112018071792 A BR112018071792 A BR 112018071792A BR 112018071792 A2 BR112018071792 A2 BR 112018071792A2
Authority
BR
Brazil
Prior art keywords
mobile robot
behavior
center
mass
calculate
Prior art date
Application number
BR112018071792-4A
Other languages
English (en)
Inventor
Dalibard Sébastien
Lanca Justine
LAFAYE Jory
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 BR112018071792A2 publication Critical patent/BR112018071792A2/pt

Links

Classifications

    • 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
    • B25J19/0008—Balancing 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • 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
    • 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
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

Abstract

a invenção se refere a um robô móvel que é capaz de seguir uma trajetória e adotar um comportamento que pode ser definido por movimentos de membros articulados do robô. o robô móvel é equipado com um processador que é configurado, baseado em instruções que definem um movimento do robô móvel e instruções que definem um comportamento do robô móvel, para calcular uma trajetória alvo de um centro de massa do robô móvel; calcular, com base na trajetória alvo do centro de massa do robô móvel e restrições dinâmicas do robô móvel, uma trajetória prevista (350) do centro de massa do robô móvel ao longo de um horizonte de tempo, e calcular, com base na trajetória prevista do centro de massa do robô móvel e nas instruções que definem um comportamento do robô móvel, os movimentos previstos dos membros articulados.
BR112018071792-4A 2016-04-29 2016-04-29 robô móvel com capacidades de movimento equilibrado e de comportamento melhoradas BR112018071792A2 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2016/052452 WO2017187235A1 (en) 2016-04-29 2016-04-29 A mobile robot with enhanced balanced motion and behavior capabilities

Publications (1)

Publication Number Publication Date
BR112018071792A2 true BR112018071792A2 (pt) 2019-02-19

Family

ID=56101759

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112018071792-4A BR112018071792A2 (pt) 2016-04-29 2016-04-29 robô móvel com capacidades de movimento equilibrado e de comportamento melhoradas

Country Status (10)

Country Link
US (1) US11014247B2 (pt)
EP (1) EP3448629A1 (pt)
JP (1) JP6715952B2 (pt)
KR (1) KR102199608B1 (pt)
CN (1) CN109311159B (pt)
AU (1) AU2016404622B2 (pt)
BR (1) BR112018071792A2 (pt)
CA (1) CA3022383A1 (pt)
SG (1) SG11201808977RA (pt)
WO (1) WO2017187235A1 (pt)

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Also Published As

Publication number Publication date
CN109311159A (zh) 2019-02-05
KR102199608B1 (ko) 2021-01-07
WO2017187235A1 (en) 2017-11-02
AU2016404622B2 (en) 2020-05-14
JP6715952B2 (ja) 2020-07-01
US20190118384A1 (en) 2019-04-25
SG11201808977RA (en) 2018-11-29
US11014247B2 (en) 2021-05-25
KR20190008530A (ko) 2019-01-24
EP3448629A1 (en) 2019-03-06
JP2019514713A (ja) 2019-06-06
CA3022383A1 (en) 2017-11-02
AU2016404622A1 (en) 2018-12-13
CN109311159B (zh) 2022-03-25

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B08K Patent lapsed as no evidence of payment of the annual fee has been furnished to inpi [chapter 8.11 patent gazette]

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B350 Update of information on the portal [chapter 15.35 patent gazette]