DE60142687D1 - Vorrichtung zur feststellung des bodenprofils für bewegliche roboter mit beinen - Google Patents

Vorrichtung zur feststellung des bodenprofils für bewegliche roboter mit beinen

Info

Publication number
DE60142687D1
DE60142687D1 DE60142687T DE60142687T DE60142687D1 DE 60142687 D1 DE60142687 D1 DE 60142687D1 DE 60142687 T DE60142687 T DE 60142687T DE 60142687 T DE60142687 T DE 60142687T DE 60142687 D1 DE60142687 D1 DE 60142687D1
Authority
DE
Germany
Prior art keywords
legs
determining
floor profile
moving robots
robots
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 - Lifetime
Application number
DE60142687T
Other languages
English (en)
Inventor
Toru Takenaka
Tadaaki Hasegawa
Takashi Matsumoto
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.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
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 Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Application granted granted Critical
Publication of DE60142687D1 publication Critical patent/DE60142687D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
DE60142687T 2000-05-19 2001-05-17 Vorrichtung zur feststellung des bodenprofils für bewegliche roboter mit beinen Expired - Lifetime DE60142687D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2000147949A JP3726009B2 (ja) 2000-05-19 2000-05-19 脚式移動ロボットの床形状推定装置
PCT/JP2001/004119 WO2001087549A1 (fr) 2000-05-19 2001-05-17 Dispositif de deduction du profil du sol pour robot mobile du type a jambes

Publications (1)

Publication Number Publication Date
DE60142687D1 true DE60142687D1 (de) 2010-09-09

Family

ID=18654058

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60142687T Expired - Lifetime DE60142687D1 (de) 2000-05-19 2001-05-17 Vorrichtung zur feststellung des bodenprofils für bewegliche roboter mit beinen

Country Status (5)

Country Link
US (1) US6922609B2 (de)
EP (1) EP1291137B1 (de)
JP (1) JP3726009B2 (de)
DE (1) DE60142687D1 (de)
WO (1) WO2001087549A1 (de)

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003090982A1 (fr) * 2002-04-26 2003-11-06 Honda Giken Kogyo Kabushiki Kaisha Dispositif de commande et dispositif de determination de pas pour robot mobile sur jambes
JPWO2004033159A1 (ja) * 2002-10-11 2006-02-09 富士通株式会社 ロボット制御アルゴリズム構築装置、ロボット制御アルゴリズム構築プログラムロボット制御装置、ロボット制御プログラム、およびロボット
KR20040068438A (ko) * 2003-01-25 2004-07-31 삼성전자주식회사 보행식 로봇 및 그 위치이동방법
CN100344416C (zh) * 2003-03-23 2007-10-24 索尼株式会社 机器人装置和控制该装置的方法
DE602004030893D1 (de) * 2003-03-27 2011-02-17 Sony Corp Robotervorrichtung und verfahren zur steuerung derselben
US7379789B2 (en) * 2003-06-27 2008-05-27 Honda Motor Co., Ltd. Gait generating device of legged mobile robot and legged mobile robot controller
JP4485279B2 (ja) * 2004-08-02 2010-06-16 本田技研工業株式会社 脚式移動ロボットの歩容生成装置および制御装置
WO2006064598A1 (ja) * 2004-12-14 2006-06-22 Honda Motor Co., Ltd. 脚式移動ロボットおよびその制御プログラム
WO2006132330A1 (ja) * 2005-06-08 2006-12-14 Nagoya Institute Of Technology 脚式移動体の平衡点安定化装置
JP4929506B2 (ja) * 2007-03-29 2012-05-09 本田技研工業株式会社 脚式移動ロボット
KR20090126038A (ko) * 2008-06-03 2009-12-08 삼성전자주식회사 보행 로봇 및 그 제어 방법
JP2010058253A (ja) * 2008-09-08 2010-03-18 Waseda Univ ２足歩行ロボットの制御装置、及び２足歩行ロボットの制御方法
JP5219956B2 (ja) * 2009-07-23 2013-06-26 本田技研工業株式会社 移動体の制御装置
JP5284923B2 (ja) * 2009-10-28 2013-09-11 本田技研工業株式会社 脚式移動ロボットの制御装置
KR101687630B1 (ko) * 2010-01-11 2016-12-20 삼성전자주식회사 보행 로봇 및 그 균형 제어 방법
KR101687628B1 (ko) * 2010-01-12 2016-12-21 삼성전자주식회사 로봇의 보행 제어 장치 및 그 제어 방법
KR101687629B1 (ko) * 2010-01-18 2016-12-20 삼성전자주식회사 인간형 로봇 및 그 보행 제어방법
JP5463991B2 (ja) * 2010-03-18 2014-04-09 トヨタ自動車株式会社 ２脚歩行ロボット
JP5616289B2 (ja) * 2011-05-25 2014-10-29 本田技研工業株式会社 床面推定装置
KR20130068694A (ko) * 2011-12-16 2013-06-26 삼성전자주식회사 보행 로봇 및 그 제어 방법
US9618937B1 (en) 2014-08-25 2017-04-11 Google Inc. Slip detection using robotic limbs
US9387588B1 (en) 2014-08-25 2016-07-12 Google Inc. Handling gait disturbances with asynchronous timing
JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
US9499218B1 (en) 2014-12-30 2016-11-22 Google Inc. Mechanically-timed footsteps for a robotic device
CN104709374B (zh) * 2015-02-13 2017-03-08 中国北方车辆研究所 一种防止足式机器人左右倾斜的方法
WO2017033361A1 (ja) * 2015-08-25 2017-03-02 川崎重工業株式会社 ロボットシステム及びその運転方法
WO2019042536A1 (en) 2017-08-30 2019-03-07 Thyssenkrupp Presta Ag MULTICANAL ECU ARCHITECTURE FOR EPS
US11292126B2 (en) * 2019-10-17 2022-04-05 Disney Enterprises, Inc. Robots with robust bipedal locomotion supported with non-conventional physics
CN112947398A (zh) * 2019-12-11 2021-06-11 深圳市优必选科技股份有限公司 一种机器人步态规划方法、装置、可读存储介质及机器人

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5311109A (en) * 1992-03-31 1994-05-10 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobile robot
US5404086A (en) * 1992-07-20 1995-04-04 Honda Giken Kogyo Kabushiki Kaisha System for controlling locomotion of legged mobile robot and correcting inclinometer's output thereof
JP3330710B2 (ja) * 1993-12-30 2002-09-30 本田技研工業株式会社 移動ロボットの位置検知および制御装置
US5808433A (en) * 1995-09-29 1998-09-15 Honda Giken Kogyo Kabushiki Kaisha Method of generating gait of legged walking robot and system for controlling its locomotion
DE69725764T2 (de) * 1996-07-25 2004-08-05 Honda Giken Kogyo K.K. Vorrichtung zur nachbildung des ganges für einen zweibeinigen robotor
EP0965416B1 (de) * 1996-12-19 2005-12-07 Honda Giken Kogyo Kabushiki Kaisha Haltungskontrolleur einen sich auf beinen bewegenden robotern
EP1514777B1 (de) * 1997-01-31 2009-03-11 Honda Giken Kogyo Kabushiki Kaisha Steuerungssystem eines beweglichen Roboters mit Beinen
JP3672406B2 (ja) * 1997-01-31 2005-07-20 本田技研工業株式会社 脚式移動ロボットの歩容生成装置
JP3629133B2 (ja) 1997-01-31 2005-03-16 本田技研工業株式会社 脚式移動ロボットの制御装置
FR2773339B1 (fr) * 1998-01-06 2000-01-28 Commissariat Energie Atomique Appareil stabilise par un gyroscope, et notamment un robot bipede
DE69943148D1 (de) * 1998-04-20 2011-03-03 Honda Motor Co Ltd Steuereinheit für einen mit beinen beweglichen roboter
JP2000153476A (ja) * 1998-09-14 2000-06-06 Honda Motor Co Ltd 脚式移動ロボット

Also Published As

Publication number Publication date
WO2001087549A1 (fr) 2001-11-22
EP1291137A1 (de) 2003-03-12
US20030114960A1 (en) 2003-06-19
EP1291137A4 (de) 2005-12-07
JP3726009B2 (ja) 2005-12-14
US6922609B2 (en) 2005-07-26
EP1291137B1 (de) 2010-07-28
JP2001328083A (ja) 2001-11-27

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