CN114800509B - 机器人系统和用于控制机器人系统的方法 - Google Patents

机器人系统和用于控制机器人系统的方法

Info

Publication number
CN114800509B
CN114800509B CN202210480461.8A CN202210480461A CN114800509B CN 114800509 B CN114800509 B CN 114800509B CN 202210480461 A CN202210480461 A CN 202210480461A CN 114800509 B CN114800509 B CN 114800509B
Authority
CN
China
Prior art keywords
control system
force
body portion
intermediate body
moment
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
CN202210480461.8A
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English (en)
Chinese (zh)
Other versions
CN114800509A (zh
Inventor
K.布兰克斯波尔
B.斯蒂芬斯
N.哈德森
Y.安部
J.巴里
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Boston Dynamics Inc
Original Assignee
Boston Dynamics Inc
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
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Publication of CN114800509A publication Critical patent/CN114800509A/zh
Application granted granted Critical
Publication of CN114800509B publication Critical patent/CN114800509B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • 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
    • 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
    • B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
    • 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
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • 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)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
CN202210480461.8A 2016-12-13 2017-12-06 机器人系统和用于控制机器人系统的方法 Active CN114800509B (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US15/377,559 US10351189B2 (en) 2016-12-13 2016-12-13 Whole body manipulation on a legged robot using dynamic balance
US15/377,559 2016-12-13
PCT/US2017/064939 WO2018111653A1 (en) 2016-12-13 2017-12-06 Whole body manipulation on a legged robot using dynamic balance
CN201780075045.7A CN110035872B (zh) 2016-12-13 2017-12-06 机器人系统和用于控制机器人系统的方法

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201780075045.7A Division CN110035872B (zh) 2016-12-13 2017-12-06 机器人系统和用于控制机器人系统的方法

Publications (2)

Publication Number Publication Date
CN114800509A CN114800509A (zh) 2022-07-29
CN114800509B true CN114800509B (zh) 2025-08-05

Family

ID=60782391

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202210480461.8A Active CN114800509B (zh) 2016-12-13 2017-12-06 机器人系统和用于控制机器人系统的方法
CN201780075045.7A Active CN110035872B (zh) 2016-12-13 2017-12-06 机器人系统和用于控制机器人系统的方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201780075045.7A Active CN110035872B (zh) 2016-12-13 2017-12-06 机器人系统和用于控制机器人系统的方法

Country Status (5)

Country Link
US (4) US10351189B2 (enExample)
EP (3) EP3554773B1 (enExample)
JP (3) JP6823172B2 (enExample)
CN (2) CN114800509B (enExample)
WO (1) WO2018111653A1 (enExample)

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US10351189B2 (en) * 2016-12-13 2019-07-16 Boston Dynamics, Inc. Whole body manipulation on a legged robot using dynamic balance
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US10751888B2 (en) 2018-10-04 2020-08-25 Advanced Intelligent Systems Inc. Manipulator apparatus for operating on articles
US10645882B1 (en) 2018-10-29 2020-05-12 Advanced Intelligent Systems Inc. Method and apparatus for performing pruning operations using an autonomous vehicle
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CA3120717A1 (en) 2018-11-20 2020-05-28 Advanced Intelligent Systems Inc. Systems, methods, and storage units for article transport and storage
CN112847354B (zh) * 2020-12-31 2022-05-17 国网智能科技股份有限公司 变电站足式机器人姿态调整方法、控制器、系统及机器人
CN114283229B (zh) * 2021-11-19 2025-07-11 腾讯科技（深圳）有限公司 虚拟角色的行走动画生成方法、装置、设备及存储介质
US12246441B1 (en) 2022-11-18 2025-03-11 Agility Robotics, Inc. Torso protrusion for robotic manipulation of objects and related technology
CN116079736B (zh) * 2023-02-21 2024-08-13 中国兵器装备集团自动化研究所有限公司 一种机械臂末端稳定方法、装置、设备及存储介质
US12497113B1 (en) * 2023-03-15 2025-12-16 Agility Robotics, Inc. Coordinating dynamic balancing with object manipulation by a robot and related technology
CN122275013A (zh) * 2023-03-31 2026-06-26 腾讯科技（深圳）有限公司 机械臂的控制方法、装置、设备及存储介质
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Also Published As

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JP6823172B2 (ja) 2021-01-27
EP3875229B1 (en) 2023-11-22
US11667343B2 (en) 2023-06-06
JP7469282B2 (ja) 2024-04-16
WO2018111653A1 (en) 2018-06-21
JP2021059011A (ja) 2021-04-15
EP4296151A2 (en) 2023-12-27
US20250115315A1 (en) 2025-04-10
CN110035872B (zh) 2022-05-03
EP3875229A1 (en) 2021-09-08
CN114800509A (zh) 2022-07-29
JP2022020784A (ja) 2022-02-01
US20180162469A1 (en) 2018-06-14
US20190283822A1 (en) 2019-09-19
EP4296151A3 (en) 2024-08-07
US10351189B2 (en) 2019-07-16
US12172719B2 (en) 2024-12-24
EP3554773A1 (en) 2019-10-23
US20230303193A1 (en) 2023-09-28
CN110035872A (zh) 2019-07-19
JP2020501918A (ja) 2020-01-23
EP3554773B1 (en) 2021-06-09
JP6979140B2 (ja) 2021-12-08

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