DE112005002207B8 - Laufroboter unter Verwendung passiver Änderungen in Gelenkwinkeln und Steuerverfahren davon - Google Patents

Laufroboter unter Verwendung passiver Änderungen in Gelenkwinkeln und Steuerverfahren davon Download PDF

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Publication number
DE112005002207B8
DE112005002207B8 DE112005002207.2T DE112005002207T DE112005002207B8 DE 112005002207 B8 DE112005002207 B8 DE 112005002207B8 DE 112005002207 T DE112005002207 T DE 112005002207T DE 112005002207 B8 DE112005002207 B8 DE 112005002207B8
Authority
DE
Germany
Prior art keywords
control methods
joint angles
running robot
passive changes
passive
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.)
Expired - Fee Related
Application number
DE112005002207.2T
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English (en)
Other versions
DE112005002207T5 (de
DE112005002207B4 (de
Inventor
Toshio Fukuda
Yasuhisa Hasegawa
Masahiro Doi
Keisuke Suga
Yoshimi Kajitani
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.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
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 Toyota Motor Corp filed Critical Toyota Motor Corp
Publication of DE112005002207T5 publication Critical patent/DE112005002207T5/de
Publication of DE112005002207B4 publication Critical patent/DE112005002207B4/de
Application granted granted Critical
Publication of DE112005002207B8 publication Critical patent/DE112005002207B8/de
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE112005002207.2T 2004-09-14 2005-09-13 Laufroboter unter Verwendung passiver Änderungen in Gelenkwinkeln und Steuerverfahren davon Expired - Fee Related DE112005002207B8 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2004-267019 2004-09-14
JP2004267019A JP4559803B2 (ja) 2004-09-14 2004-09-14 関節角の受動変化を利用して歩行するロボットとその制御方法
PCT/JP2005/017220 WO2006030934A1 (en) 2004-09-14 2005-09-13 Walking robot by using passive changes in joint angles and control method thereof

Publications (3)

Publication Number Publication Date
DE112005002207T5 DE112005002207T5 (de) 2007-08-02
DE112005002207B4 DE112005002207B4 (de) 2015-08-27
DE112005002207B8 true DE112005002207B8 (de) 2016-03-24

Family

ID=35427775

Family Applications (1)

Application Number Title Priority Date Filing Date
DE112005002207.2T Expired - Fee Related DE112005002207B8 (de) 2004-09-14 2005-09-13 Laufroboter unter Verwendung passiver Änderungen in Gelenkwinkeln und Steuerverfahren davon

Country Status (4)

Country Link
US (1) US7663332B2 (de)
JP (1) JP4559803B2 (de)
DE (1) DE112005002207B8 (de)
WO (1) WO2006030934A1 (de)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4559803B2 (ja) * 2004-09-14 2010-10-13 敏男 福田 関節角の受動変化を利用して歩行するロボットとその制御方法
KR101466312B1 (ko) * 2008-06-11 2014-11-27 삼성전자 주식회사 보행 로봇 및 그 제어 방법
KR20090131781A (ko) * 2008-06-19 2009-12-30 삼성전자주식회사 로봇 및 그 보행제어방법
KR20110017500A (ko) * 2009-08-14 2011-02-22 삼성전자주식회사 다리식 이동 로봇의 제어장치 및 그 제어방법
JP5467291B2 (ja) * 2009-09-16 2014-04-09 学校法人 工学院大学 省エネルギー型ロボット関節駆動制御システム
TWI478798B (zh) * 2010-06-18 2015-04-01 Compal Electronics Inc 自動機械裝置及其控制方法
FR2964055B1 (fr) * 2010-08-27 2012-08-17 Aldebaran Robotics S A Robot humanoide dote de capacites de gestion de chutes et methode de gestion desdites chutes
KR20120060578A (ko) * 2010-12-02 2012-06-12 삼성전자주식회사 보행 로봇 및 그 자세 제어 방법
KR20120069333A (ko) * 2010-12-20 2012-06-28 삼성전자주식회사 로봇의 보행 제어 장치 및 그 제어 방법
CN103481965B (zh) * 2013-09-27 2015-12-09 重庆邮电大学 一种基于智能终端的低功耗行走装置及控制方法
US9517561B2 (en) * 2014-08-25 2016-12-13 Google Inc. Natural pitch and roll
CN109774813A (zh) * 2019-01-16 2019-05-21 浙江大学 一种小型电动六足机器人
CN110920769B (zh) * 2019-11-28 2020-12-15 深圳市优必选科技股份有限公司 机器人的足腰协调步态规划方法、装置、介质及机器人
CN111625002B (zh) * 2019-12-24 2022-12-13 杭州电子科技大学 一种仿人机器人爬楼步态规划与控制的方法
EP4261111A1 (de) * 2022-04-13 2023-10-18 Siemens Energy Global GmbH & Co. KG Roboterinspektionswerkzeug zur verwendung in begrenzten räumen

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05253867A (ja) * 1992-03-12 1993-10-05 Honda Motor Co Ltd 脚式移動ロボットの歩行制御装置
US5349277A (en) * 1992-03-12 1994-09-20 Honda Giken Kogyo Kabushiki Kaisha Control system for legged mobile robot
JP2004276167A (ja) * 2003-03-14 2004-10-07 Toshio Fukuda 関節角の受動変化を利用して歩行するロボットとその制御方法
JP2006082146A (ja) * 2004-09-14 2006-03-30 Toshio Fukuda 関節角の受動変化を利用して歩行するロボットとその制御方法
EP1649984A1 (de) * 2003-07-11 2006-04-26 HONDA MOTOR CO., Ltd. Verfahren zum schätzen des verbindungsmoments eines zweibeinigen mobilen schreitkörpers

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2520019B2 (ja) * 1989-06-29 1996-07-31 本田技研工業株式会社 脚式移動ロボットの駆動制御装置
JP2997036B2 (ja) * 1990-11-30 2000-01-11 本田技研工業株式会社 脚式移動ロボットの歩行制御装置
US5337235A (en) * 1992-03-12 1994-08-09 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobiled robot
US5432417A (en) * 1992-04-30 1995-07-11 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobile robot
TW499349B (en) * 2000-11-17 2002-08-21 Sony Corp Legged mobile robot, leg structure of legged mobile robot, and mobile leg unit for legged mobile robot
JP4733875B2 (ja) * 2001-08-08 2011-07-27 富士通株式会社 歩行ロボットの足機構及び歩行制御方法
JP3569764B2 (ja) * 2001-11-19 2004-09-29 独立行政法人 科学技術振興機構 二脚歩行式移動装置およびその歩行制御装置並びに歩行制御方法
JP3731118B2 (ja) * 2002-02-18 2006-01-05 独立行政法人科学技術振興機構 二脚歩行式人型ロボット
JP4246534B2 (ja) * 2003-04-17 2009-04-02 本田技研工業株式会社 二足歩行移動体の床反力作用点推定方法及び二足歩行移動体の関節モーメント推定方法
JP4168943B2 (ja) * 2004-01-28 2008-10-22 トヨタ自動車株式会社 脚式ロボットと脚式ロボットの歩行制御方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05253867A (ja) * 1992-03-12 1993-10-05 Honda Motor Co Ltd 脚式移動ロボットの歩行制御装置
US5349277A (en) * 1992-03-12 1994-09-20 Honda Giken Kogyo Kabushiki Kaisha Control system for legged mobile robot
JP2004276167A (ja) * 2003-03-14 2004-10-07 Toshio Fukuda 関節角の受動変化を利用して歩行するロボットとその制御方法
EP1649984A1 (de) * 2003-07-11 2006-04-26 HONDA MOTOR CO., Ltd. Verfahren zum schätzen des verbindungsmoments eines zweibeinigen mobilen schreitkörpers
JP2006082146A (ja) * 2004-09-14 2006-03-30 Toshio Fukuda 関節角の受動変化を利用して歩行するロボットとその制御方法

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
DOI, M.; HASEGAWA, Y.; FUKUDA, T.: "Passive Trajectory Control of the Lateral Motion in Bipedal Walking", In: Proceedings of the 2004 IEEE International Conference on Robotics and Automtion, April 2004, Vol.3, S. 3049-3054 *
DOI, M.; HASEGAWA, Y.; FUKUDA, T.: „Passive Trajectory Control of the Lateral Motion in Bipedal Walking", In: Proceedings of the 2004 IEEE International Conference on Robotics and Automtion, April 2004, Vol.3, S. 3049-3054

Also Published As

Publication number Publication date
DE112005002207T5 (de) 2007-08-02
WO2006030934A1 (en) 2006-03-23
US7663332B2 (en) 2010-02-16
US20080258669A1 (en) 2008-10-23
JP4559803B2 (ja) 2010-10-13
DE112005002207B4 (de) 2015-08-27
JP2006082146A (ja) 2006-03-30

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