DE60237038D1 - Zweibeinige schreitbewegungsvorrichtung und schreitsteuervorrichtung und -verfahren dafür - Google Patents

Zweibeinige schreitbewegungsvorrichtung und schreitsteuervorrichtung und -verfahren dafür

Info

Publication number
DE60237038D1
DE60237038D1 DE60237038T DE60237038T DE60237038D1 DE 60237038 D1 DE60237038 D1 DE 60237038D1 DE 60237038 T DE60237038 T DE 60237038T DE 60237038 T DE60237038 T DE 60237038T DE 60237038 D1 DE60237038 D1 DE 60237038D1
Authority
DE
Germany
Prior art keywords
double
method therefor
screen control
control device
broad sweeping
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
DE60237038T
Other languages
English (en)
Inventor
Hiroaki Kitano
Takayuki Furuta
Yu Okumura
Tetsuo Tawara
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.)
Japan Science and Technology Agency
Original Assignee
Japan Science and Technology Agency
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 Japan Science and Technology Agency filed Critical Japan Science and Technology Agency
Application granted granted Critical
Publication of DE60237038D1 publication Critical patent/DE60237038D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
DE60237038T 2001-12-19 2002-11-19 Zweibeinige schreitbewegungsvorrichtung und schreitsteuervorrichtung und -verfahren dafür Expired - Lifetime DE60237038D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001386693A JP3574951B2 (ja) 2001-12-19 2001-12-19 二脚歩行式移動装置及びその歩行制御装置及び歩行制御方法
PCT/JP2002/012057 WO2003051582A1 (fr) 2001-12-19 2002-11-19 Dispositif mobile de type marche de bipède, et dispositif de commande de marche et procédé de commande de marche correspondant

Publications (1)

Publication Number Publication Date
DE60237038D1 true DE60237038D1 (de) 2010-08-26

Family

ID=19187960

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60237038T Expired - Lifetime DE60237038D1 (de) 2001-12-19 2002-11-19 Zweibeinige schreitbewegungsvorrichtung und schreitsteuervorrichtung und -verfahren dafür

Country Status (8)

Country Link
US (1) US20050016778A1 (de)
EP (1) EP1464451B1 (de)
JP (1) JP3574951B2 (de)
KR (1) KR100559408B1 (de)
CN (1) CN100344415C (de)
DE (1) DE60237038D1 (de)
TW (1) TW575482B (de)
WO (1) WO2003051582A1 (de)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4649913B2 (ja) * 2003-09-19 2011-03-16 ソニー株式会社 ロボット装置及びロボット装置の移動制御方法
KR100571829B1 (ko) * 2004-02-06 2006-04-17 삼성전자주식회사 구조체, 발 구조 및 이를 채용한 로봇
KR100597558B1 (ko) * 2004-11-12 2006-07-06 학교법인 명지학원 스트레인 게이지를 이용한 ｚｍｐ감지장치 및 그 감지방법
JP4506512B2 (ja) * 2005-03-07 2010-07-21 トヨタ自動車株式会社 支持脚をもつ歩行ロボットのオフセット調整システム及びオフセット調整方法
JP4008465B2 (ja) * 2005-09-02 2007-11-14 本田技研工業株式会社 運動誘導装置
JP4877668B2 (ja) * 2006-06-07 2012-02-15 有限会社ケイテックシステム 立位バランス測定装置
US7582994B2 (en) * 2007-06-20 2009-09-01 Honda Motor Co., Ltd. Electric actuator
KR100920224B1 (ko) 2007-12-11 2009-10-05 경상대학교산학협력단 인간형 로봇의 지능형 발
US8423190B1 (en) 2009-06-11 2013-04-16 Kabushiki Kaisha Yaskawa Denki Manipulator system
KR101025512B1 (ko) 2009-06-16 2011-04-04 경상대학교산학협력단 보행안정성 증대를 위한 적응형 보행 보조 장치
KR101097040B1 (ko) 2009-09-16 2011-12-22 (주)동부로봇 보행로봇의 이상보행 교정방법
WO2011077181A1 (en) 2009-12-21 2011-06-30 Nxp B.V. Semiconductor device with multilayer contact and method of manufacturing the same
US8805584B2 (en) * 2011-11-22 2014-08-12 Disney Enterprises, Inc Kinematic and dynamic calibration methods for legged robots with force-controlled joints
KR101262978B1 (ko) * 2011-12-05 2013-05-08 현대자동차주식회사 보행로봇의 반발력 측정 모듈 및 방법
KR101428325B1 (ko) 2012-12-27 2014-08-07 현대자동차주식회사 로봇발장치
KR101428328B1 (ko) 2012-12-27 2014-08-08 현대자동차주식회사 로봇의 보행제어방법 및 시스템
CN105446345A (zh) * 2015-07-02 2016-03-30 浙江大学 仿人双足机器人控制系统
CN107203212A (zh) * 2017-07-04 2017-09-26 西北工业大学 实现全向步行的小型类人机器人及其控制方法
CN109333506B (zh) * 2018-10-23 2021-12-17 广东工业大学 一种人形智能机器人系统
WO2023248697A1 (ja) * 2022-06-24 2023-12-28 ソニーグループ株式会社 情報処理装置、および情報処理方法、並びにプログラム

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JPS60221288A (ja) * 1984-04-13 1985-11-05 株式会社　富士電機総合研究所 圧覚認識制御装置
US5263375A (en) * 1987-09-18 1993-11-23 Wacoh Corporation Contact detector using resistance elements and its application
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
JP2826858B2 (ja) * 1989-12-14 1998-11-18 本田技研工業株式会社 脚式歩行ロボットの足部構造
US5255753A (en) * 1989-12-14 1993-10-26 Honda Giken Kogyo Kabushiki Kaisha Foot structure for legged walking robot
US5455497A (en) * 1992-04-20 1995-10-03 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot and a system for controlling the same
JPH07121214A (ja) * 1993-10-25 1995-05-12 Fanuc Ltd ロボット用計測センサ装置並びに該装置を用いたキャリブレーション方法及び計測方法
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
JP3361386B2 (ja) * 1994-07-04 2003-01-07 日鍛バルブ株式会社 カム軸位相可変装置
US5608172A (en) * 1995-03-16 1997-03-04 Texas Instruments Incorporated Die bond touch down detector
JPH09212203A (ja) * 1995-11-30 1997-08-15 Sony Corp ロボット制御装置
JP3626303B2 (ja) * 1996-12-18 2005-03-09 本田技研工業株式会社 脚式移動ロボットの足底接地位置検出装置
JP3400377B2 (ja) * 1999-03-10 2003-04-28 富士通株式会社 足平センサ及びこれを備えた人間型ロボット
US6868746B1 (en) * 1999-05-07 2005-03-22 Northwestern University Method and apparatus for force sensors
JP4213310B2 (ja) * 1999-08-30 2009-01-21 本田技研工業株式会社 ２足歩行脚式移動ロボット
JP4480843B2 (ja) * 2000-04-03 2010-06-16 ソニー株式会社 脚式移動ロボット及びその制御方法、並びに、脚式移動ロボット用相対移動測定センサ
KR100661333B1 (ko) * 2000-11-17 2006-12-27 혼다 기켄 고교 가부시키가이샤 레그식 이동 로봇의 보용 생성장치
JP4136655B2 (ja) * 2000-11-30 2008-08-20 ニッタ株式会社 静電容量式センサ
JP3574952B2 (ja) * 2002-02-18 2004-10-06 独立行政法人 科学技術振興機構 二脚歩行式移動装置及びその歩行制御装置

Also Published As

Publication number Publication date
KR20040071204A (ko) 2004-08-11
KR100559408B1 (ko) 2006-03-10
EP1464451A1 (de) 2004-10-06
JP2003181781A (ja) 2003-07-02
EP1464451B1 (de) 2010-07-14
TW575482B (en) 2004-02-11
TW200301182A (en) 2003-07-01
EP1464451A4 (de) 2008-04-09
CN100344415C (zh) 2007-10-24
CN1606488A (zh) 2005-04-13
US20050016778A1 (en) 2005-01-27
JP3574951B2 (ja) 2004-10-06
WO2003051582A1 (fr) 2003-06-26

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