DE602005022359D1 - Mit beinen ausgestatteter mobiler roboter und steuerprogramm für den roboter - Google Patents

Mit beinen ausgestatteter mobiler roboter und steuerprogramm für den roboter

Info

Publication number
DE602005022359D1
DE602005022359D1 DE602005022359T DE602005022359T DE602005022359D1 DE 602005022359 D1 DE602005022359 D1 DE 602005022359D1 DE 602005022359 T DE602005022359 T DE 602005022359T DE 602005022359 T DE602005022359 T DE 602005022359T DE 602005022359 D1 DE602005022359 D1 DE 602005022359D1
Authority
DE
Germany
Prior art keywords
robot
control program
mobile robots
leg mobile
leg
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
DE602005022359T
Other languages
English (en)
Inventor
Toru Takenaka
Susumu Miyazaki
Masakazu Kawai
Masanori Takeda
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
Publication of DE602005022359D1 publication Critical patent/DE602005022359D1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
DE602005022359T 2004-12-14 2005-09-14 Mit beinen ausgestatteter mobiler roboter und steuerprogramm für den roboter Active DE602005022359D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004362080 2004-12-14
PCT/JP2005/016892 WO2006064599A1 (ja) 2004-12-14 2005-09-14 脚式移動ロボットおよびその制御プログラム

Publications (1)

Publication Number Publication Date
DE602005022359D1 true DE602005022359D1 (de) 2010-08-26

Family

ID=36587663

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602005022359T Active DE602005022359D1 (de) 2004-12-14 2005-09-14 Mit beinen ausgestatteter mobiler roboter und steuerprogramm für den roboter

Country Status (7)

Country Link
US (1) US7801643B2 (de)
EP (1) EP1844907B1 (de)
JP (1) JP5123527B2 (de)
KR (1) KR100946706B1 (de)
CN (1) CN101068662B (de)
DE (1) DE602005022359D1 (de)
WO (1) WO2006064599A1 (de)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101464124B1 (ko) * 2008-06-04 2014-11-20 삼성전자주식회사 로봇 및 그 보행제어방법
AU2009348961B2 (en) * 2009-07-01 2014-12-04 Rex Bionics Limited Control system for a mobility aid
JP5456588B2 (ja) * 2010-06-07 2014-04-02 本田技研工業株式会社 脚式移動ロボットの制御装置
KR101200191B1 (ko) * 2010-07-14 2012-11-13 서울대학교산학협력단 데이터 기반 바이페드 제어 장치 및 방법
US8784274B1 (en) * 2011-03-18 2014-07-22 Thomas C. Chuang Athletic performance monitoring with body synchronization analysis
US9499219B1 (en) 2014-08-25 2016-11-22 Google Inc. Touch-down sensing for robotic devices
US9623556B1 (en) * 2014-09-03 2017-04-18 X Development Llc Robotic sole joint
JP6483014B2 (ja) * 2015-12-25 2019-03-13 本田技研工業株式会社 移動ロボットの制御装置
US11287826B2 (en) * 2018-10-12 2022-03-29 Boston Dynamics, Inc. Terrain aware step planning system

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3148827B2 (ja) 1992-04-30 2001-03-26 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
JP3233450B2 (ja) 1992-05-22 2001-11-26 本田技研工業株式会社 指定時刻到達関数発生器
JP3429048B2 (ja) * 1993-12-30 2003-07-22 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
JP3663034B2 (ja) 1996-07-25 2005-06-22 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
JP3658147B2 (ja) 1996-07-25 2005-06-08 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
JP2001017591A (ja) * 1999-07-09 2001-01-23 Kaoru Konishi 水中運動装置
JP3443077B2 (ja) * 1999-09-20 2003-09-02 ソニー株式会社 ロボットの運動パターン生成装置及び運動パターン生成方法、並びにロボット
KR100661333B1 (ko) 2000-11-17 2006-12-27 혼다 기켄 고교 가부시키가이샤 레그식 이동 로봇의 보용 생성장치
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
DE60142849D1 (de) 2000-11-20 2010-09-30 Sony Corp Vorrichtung und verfahren zum steuern des betriebs eines roboters mit beinen und robotervorrichtung
JP3674779B2 (ja) * 2000-11-20 2005-07-20 ソニー株式会社 脚式移動ロボットのための動作制御装置及び動作制御方法、並びにロボット装置
JP3603279B2 (ja) * 2001-09-26 2004-12-22 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
US7072740B2 (en) * 2002-12-16 2006-07-04 Sony Corporation Legged mobile robot
JP3864907B2 (ja) 2002-12-26 2007-01-10 トヨタ自動車株式会社 体幹を捩じって歩行する２足ロボットとそのための方法
WO2005098733A2 (en) * 2004-03-31 2005-10-20 Honda Motor Co., Ltd. Systems and methods for controlling a legged robot based on rate of change of angular momentum

Also Published As

Publication number Publication date
EP1844907A4 (de) 2009-05-13
KR100946706B1 (ko) 2010-03-12
US7801643B2 (en) 2010-09-21
KR20070084479A (ko) 2007-08-24
WO2006064599A1 (ja) 2006-06-22
CN101068662A (zh) 2007-11-07
JPWO2006064599A1 (ja) 2008-06-12
US20090099689A1 (en) 2009-04-16
CN101068662B (zh) 2012-03-28
EP1844907B1 (de) 2010-07-14
EP1844907A1 (de) 2007-10-17
JP5123527B2 (ja) 2013-01-23

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