DE102013103979A8 - Verfahren zum Steuern eines Gangs eines Roboters - Google Patents

Verfahren zum Steuern eines Gangs eines Roboters Download PDF

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Publication number
DE102013103979A8
DE102013103979A8 DE102013103979.0A DE102013103979A DE102013103979A8 DE 102013103979 A8 DE102013103979 A8 DE 102013103979A8 DE 102013103979 A DE102013103979 A DE 102013103979A DE 102013103979 A8 DE102013103979 A8 DE 102013103979A8
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DE
Germany
Prior art keywords
robot
gear
controlling
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.)
Granted
Application number
DE102013103979.0A
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English (en)
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DE102013103979B4 (de
DE102013103979A1 (de
Inventor
Woo Sung Yang
Seok Won Lee
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.)
Hyundai Motor Co
Original Assignee
Hyundai Motor Co
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 Hyundai Motor Co filed Critical Hyundai Motor Co
Publication of DE102013103979A1 publication Critical patent/DE102013103979A1/de
Publication of DE102013103979A8 publication Critical patent/DE102013103979A8/de
Application granted granted Critical
Publication of DE102013103979B4 publication Critical patent/DE102013103979B4/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • 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)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (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)
DE102013103979.0A 2012-12-17 2013-04-19 Verfahren zum Steuern eines Gangs eines Roboters Active DE102013103979B4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2012-0147880 2012-12-17
KR1020120147880A KR101371756B1 (ko) 2012-12-17 2012-12-17 로봇의 보행제어방법

Publications (3)

Publication Number Publication Date
DE102013103979A1 DE102013103979A1 (de) 2014-06-18
DE102013103979A8 true DE102013103979A8 (de) 2014-09-18
DE102013103979B4 DE102013103979B4 (de) 2019-12-05

Family

ID=50647971

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102013103979.0A Active DE102013103979B4 (de) 2012-12-17 2013-04-19 Verfahren zum Steuern eines Gangs eines Roboters

Country Status (5)

Country Link
US (1) US9120513B2 (de)
JP (1) JP2014117795A (de)
KR (1) KR101371756B1 (de)
CN (1) CN103862475A (de)
DE (1) DE102013103979B4 (de)

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KR20160005816A (ko) 2014-07-07 2016-01-18 현대자동차주식회사 착용로봇의 보행의도감지시스템 및 그 제어방법
US9499219B1 (en) * 2014-08-25 2016-11-22 Google Inc. Touch-down sensing for robotic devices
US10390973B2 (en) 2015-05-11 2019-08-27 The Hong Kong Polytechnic University Interactive exoskeleton robotic knee system
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US10179619B1 (en) * 2016-03-30 2019-01-15 Schaft Inc. Robotic foot sensor
KR101841126B1 (ko) * 2016-07-29 2018-03-22 국방과학연구소 착용형 로봇의 자세 제어 장치 및 그 장치의 제어 방법
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
KR102009461B1 (ko) * 2018-03-28 2019-08-09 국방과학연구소 운동 보조 장치
CN112965508B (zh) * 2021-02-03 2022-02-15 北京理工大学 多信息反馈的电动并联轮足机器人行走控制方法和系统

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JP4255744B2 (ja) * 2003-05-07 2009-04-15 本田技研工業株式会社 動作補助装置の制御システム
US7379789B2 (en) * 2003-06-27 2008-05-27 Honda Motor Co., Ltd. Gait generating device of legged mobile robot and legged mobile robot controller
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KR101350334B1 (ko) 2009-12-21 2014-01-10 한국전자통신연구원 보행 의도를 감지하는 다중 센서 신호 처리 시스템, 상기 시스템을 포함하는 보행 보조 장치 및 상기 장치를 제어하는 방법
KR101687630B1 (ko) * 2010-01-11 2016-12-20 삼성전자주식회사 보행 로봇 및 그 균형 제어 방법
KR101179159B1 (ko) 2010-01-13 2012-09-03 한국생산기술연구원 착용형 로봇의 발 센서 장치 및 이를 이용한 착용자의 보행 의도 파악 방법
KR101687631B1 (ko) 2010-01-18 2016-12-20 삼성전자주식회사 로봇의 보행 제어 장치 및 그 제어 방법
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CN102499859B (zh) * 2011-11-08 2014-04-16 上海交通大学 下肢外骨骼行走康复机器人

Also Published As

Publication number Publication date
JP2014117795A (ja) 2014-06-30
DE102013103979B4 (de) 2019-12-05
DE102013103979A1 (de) 2014-06-18
US20140172168A1 (en) 2014-06-19
CN103862475A (zh) 2014-06-18
US9120513B2 (en) 2015-09-01
KR101371756B1 (ko) 2014-03-12

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