DE60318340D1 - Verfahren zum Erzeugen der Bewegung eines humanoiden Systems - Google Patents

Verfahren zum Erzeugen der Bewegung eines humanoiden Systems

Info

Publication number
DE60318340D1
DE60318340D1 DE60318340T DE60318340T DE60318340D1 DE 60318340 D1 DE60318340 D1 DE 60318340D1 DE 60318340 T DE60318340 T DE 60318340T DE 60318340 T DE60318340 T DE 60318340T DE 60318340 D1 DE60318340 D1 DE 60318340D1
Authority
DE
Germany
Prior art keywords
motion
generating
humanoid system
humanoid
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
DE60318340T
Other languages
English (en)
Inventor
Yoshihiko Nakamura
Katsu Yamane
Manabu Tange
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.)
University of Tokyo NUC
Original Assignee
University of Tokyo NUC
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 University of Tokyo NUC filed Critical University of Tokyo NUC
Application granted granted Critical
Publication of DE60318340D1 publication Critical patent/DE60318340D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T13/00—Animation
    • G06T13/20—3D [Three Dimensional] animation
    • G06T13/40—3D [Three Dimensional] animation of characters, e.g. humans, animals or virtual beings
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39323—Force and motion control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40316—Simulation of human-like robot joint, restricted 3-D motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40517—Constraint motion planning, variational dynamic programming

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Biophysics (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Biomedical Technology (AREA)
  • Health & Medical Sciences (AREA)
  • Computational Linguistics (AREA)
  • Data Mining & Analysis (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Manipulator (AREA)
  • Processing Or Creating Images (AREA)
DE60318340T 2002-02-12 2003-02-12 Verfahren zum Erzeugen der Bewegung eines humanoiden Systems Expired - Lifetime DE60318340D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2002034535A JP3790816B2 (ja) 2002-02-12 2002-02-12 人型リンク系の運動生成方法

Publications (1)

Publication Number Publication Date
DE60318340D1 true DE60318340D1 (de) 2008-02-14

Family

ID=27606570

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60318340T Expired - Lifetime DE60318340D1 (de) 2002-02-12 2003-02-12 Verfahren zum Erzeugen der Bewegung eines humanoiden Systems

Country Status (7)

Country Link
US (1) US7136722B2 (de)
EP (2) EP1780679A1 (de)
JP (1) JP3790816B2 (de)
KR (1) KR100545520B1 (de)
CN (1) CN1249623C (de)
CA (1) CA2418727C (de)
DE (1) DE60318340D1 (de)

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CN107263466B (zh) * 2017-05-11 2020-07-17 西北工业大学 空间机器人基于二次规划问题的基座无扰控制方法
CN107520844B (zh) * 2017-09-21 2019-09-24 西北工业大学 空间机械臂抓捕非合作目标的多面体碰撞动力学分析方法
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CN111872941B (zh) * 2020-08-06 2021-09-07 深圳市优必选科技股份有限公司 平衡控制方法、装置、仿人机器人及可读存储介质
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Also Published As

Publication number Publication date
CA2418727C (en) 2008-06-03
US20030220714A1 (en) 2003-11-27
CN1487469A (zh) 2004-04-07
EP1334901B1 (de) 2008-01-02
KR100545520B1 (ko) 2006-01-24
EP1780679A1 (de) 2007-05-02
EP1334901A2 (de) 2003-08-13
KR20030068443A (ko) 2003-08-21
CN1249623C (zh) 2006-04-05
US7136722B2 (en) 2006-11-14
JP3790816B2 (ja) 2006-06-28
JP2003231077A (ja) 2003-08-19
CA2418727A1 (en) 2003-08-12
EP1334901A3 (de) 2006-06-07

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