DE69124486D1 - System zur Steuerung der Fortbewegung eines Schreitroboters mit Beinen - Google Patents

System zur Steuerung der Fortbewegung eines Schreitroboters mit Beinen

Info

Publication number
DE69124486D1
DE69124486D1 DE69124486T DE69124486T DE69124486D1 DE 69124486 D1 DE69124486 D1 DE 69124486D1 DE 69124486 T DE69124486 T DE 69124486T DE 69124486 T DE69124486 T DE 69124486T DE 69124486 D1 DE69124486 D1 DE 69124486D1
Authority
DE
Germany
Prior art keywords
legs
controlling
movement
walking robot
walking
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
DE69124486T
Other languages
English (en)
Other versions
DE69124486T2 (de
Inventor
Toru Takenaka
Nobuaki Ozawa
Masao Nishikawa
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
Priority claimed from JP2336419A external-priority patent/JP2997037B2/ja
Priority claimed from JP2336420A external-priority patent/JP2997038B2/ja
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of DE69124486D1 publication Critical patent/DE69124486D1/de
Application granted granted Critical
Publication of DE69124486T2 publication Critical patent/DE69124486T2/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

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE69124486T 1990-11-30 1991-11-27 System zur Steuerung der Fortbewegung eines Schreitroboters mit Beinen Expired - Lifetime DE69124486T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2336419A JP2997037B2 (ja) 1990-11-30 1990-11-30 脚式移動ロボットの歩行制御装置
JP2336420A JP2997038B2 (ja) 1990-11-30 1990-11-30 脚式移動ロボットの歩行御制装置

Publications (2)

Publication Number Publication Date
DE69124486D1 true DE69124486D1 (de) 1997-03-13
DE69124486T2 DE69124486T2 (de) 1997-05-15

Family

ID=26575466

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69124486T Expired - Lifetime DE69124486T2 (de) 1990-11-30 1991-11-27 System zur Steuerung der Fortbewegung eines Schreitroboters mit Beinen

Country Status (3)

Country Link
US (1) US5221883A (de)
EP (1) EP0488693B1 (de)
DE (1) DE69124486T2 (de)

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JP3035051B2 (ja) * 1991-12-20 2000-04-17 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
JP3167404B2 (ja) * 1992-02-26 2001-05-21 本田技研工業株式会社 ロボットの関節駆動制御装置
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US6581714B1 (en) 1993-02-24 2003-06-24 Deka Products Limited Partnership Steering control of a personal transporter
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US6827163B2 (en) * 1994-05-27 2004-12-07 Deka Products Limited Partnership Non-linear control of a balancing vehicle
US6868931B2 (en) * 1994-05-27 2005-03-22 Deka Products Limited Partnership Speed limiting for a balancing transporter accounting for variations in system capability
US6874591B2 (en) 1994-05-27 2005-04-05 Deka Products Limited Partnership Speed limiting for a balancing transporter
US5644204A (en) * 1994-11-03 1997-07-01 Nagle; John Anti-slip control for a legged robot and realisitc simulation of a legged creature
US6561294B1 (en) * 1995-02-03 2003-05-13 Deka Products Limited Partnership Balancing vehicle with passive pivotable support
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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
JP3655056B2 (ja) * 1997-08-04 2005-06-02 本田技研工業株式会社 脚式移動ロボットの制御装置
US6302230B1 (en) * 1999-06-04 2001-10-16 Deka Products Limited Partnership Personal mobility vehicles and methods
US7275607B2 (en) 1999-06-04 2007-10-02 Deka Products Limited Partnership Control of a personal transporter based on user position
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US7000933B2 (en) 2000-03-01 2006-02-21 Deka Products Limited Partnership Method for attaching a carrier to a balancing transporter
US7407175B2 (en) 2000-03-01 2008-08-05 Deka Products Limited Partnership Multiple-passenger transporter
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US6633783B1 (en) * 2000-06-06 2003-10-14 Honda Giken Kogyo Kabushiki Kaisha Fuzzy logic based control
KR100395419B1 (ko) * 2000-10-02 2003-08-21 주식회사 에스에이치티 상품의 유통기간에 기초한 판매가격 결정방법 및 시스템
US6538411B1 (en) 2000-10-13 2003-03-25 Deka Products Limited Partnership Deceleration control of a personal transporter
US6965206B2 (en) 2000-10-13 2005-11-15 Deka Products Limited Partnership Method and system for fail-safe motor operation
US6866107B2 (en) * 2000-10-13 2005-03-15 Deka Products Limited Partnership Method and device for battery load sharing
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JP4188607B2 (ja) * 2001-06-27 2008-11-26 本田技研工業株式会社 二足歩行移動体の床反力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
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
JP3726058B2 (ja) * 2001-12-28 2005-12-14 本田技研工業株式会社 脚式移動ロボットおよびその床反力検出装置
KR100956520B1 (ko) * 2002-04-26 2010-05-06 혼다 기켄 고교 가부시키가이샤 다리식 이동 로봇의 자기위치 추정 장치
US20050126832A1 (en) * 2002-06-14 2005-06-16 Deka Products Limited Partnership Non-linear control of a balancing vehicle
US7900725B2 (en) * 2002-06-11 2011-03-08 Segway Inc. Vehicle control by pitch modulation
US7690452B2 (en) * 2002-06-11 2010-04-06 Deka Products Limited Partnership Vehicle control by pitch modulation
CA2492393A1 (en) * 2002-07-12 2004-01-22 Deka Products Limited Partnership Motion control for a transporter
US7210544B2 (en) 2002-07-12 2007-05-01 Deka Products Limited Partnership Control of a transporter based on attitude
US7238079B2 (en) * 2003-01-14 2007-07-03 Disney Enterprise, Inc. Animatronic supported walking system
GB2400686A (en) * 2003-04-04 2004-10-20 Christopher Charles Box Motion logging and robotic control and display system
US7182166B2 (en) 2004-03-23 2007-02-27 Deka Products Limited Partnership Footrest tuck mechanism
JP4744092B2 (ja) * 2004-03-23 2011-08-10 本田技研工業株式会社 脚式移動ロボットおよびその制御装置
US7543663B2 (en) 2004-10-01 2009-06-09 Applied Minds, Inc. Bimodal conveyance mechanism
US7588105B2 (en) * 2004-10-01 2009-09-15 Applied Minds, Inc. Virtual-wheeled vehicle
JP4812426B2 (ja) * 2005-12-27 2011-11-09 富士通株式会社 ロボット制御装置
JP4951732B2 (ja) * 2006-05-02 2012-06-13 ソニー株式会社 駆動方法、駆動制御装置及びロボット
RU2009108658A (ru) 2006-08-11 2010-09-20 Сегвэй Инк. (Us) Ограничение скорости в электрических транспортных средствах
US7979179B2 (en) * 2006-08-11 2011-07-12 Segway Inc. Apparatus and method for pitch state estimation for a vehicle
WO2008067404A2 (en) * 2006-11-29 2008-06-05 Honda Motor Co., Ltd. Determination of foot placement for humanoid push recovery
JP4840239B2 (ja) * 2007-04-20 2011-12-21 トヨタ自動車株式会社 脚式移動ロボットの制御方法及び脚式移動ロボット
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KR20090131781A (ko) * 2008-06-19 2009-12-30 삼성전자주식회사 로봇 및 그 보행제어방법
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WO2010080448A1 (en) * 2008-12-19 2010-07-15 Honda Motor Co., Ltd. Humanoid fall direction change among multiple objects
US8332068B2 (en) * 2008-12-19 2012-12-11 Honda Motor Co., Ltd. Intelligent stepping for humanoid fall direction change
KR20110026935A (ko) * 2009-09-09 2011-03-16 삼성전자주식회사 로봇 관절 구동장치 및 이를 포함하는 로봇
JP5848266B2 (ja) 2010-02-26 2016-01-27 セグウェイ・インコーポレイテッド 車両を制御するための装置及び方法
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
CN103707952B (zh) * 2014-01-13 2016-01-20 重庆邮电大学 窄足被动行走装置及其控制方法
JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
CN104973160B (zh) * 2015-06-29 2017-07-25 重庆邮电大学 一种双足带上身的直腿行走器
MX2021007864A (es) 2016-02-23 2023-01-31 Deka Products Lp Sistema de control de dispositivo de movilidad.
US10926756B2 (en) 2016-02-23 2021-02-23 Deka Products Limited Partnership Mobility device
US10908045B2 (en) 2016-02-23 2021-02-02 Deka Products Limited Partnership Mobility device
US11399995B2 (en) 2016-02-23 2022-08-02 Deka Products Limited Partnership Mobility device
MX2018012565A (es) 2016-04-14 2019-07-08 Deka Products Lp Dispositivo de control de usuario para un transportador.
CN106826759B (zh) * 2016-12-29 2024-02-09 深圳市优必选科技有限公司 脚部结构及人形机器人
USD846452S1 (en) 2017-05-20 2019-04-23 Deka Products Limited Partnership Display housing
USD829612S1 (en) 2017-05-20 2018-10-02 Deka Products Limited Partnership Set of toggles
MX2020013312A (es) 2018-06-07 2021-06-08 Deka Products Lp Sistema y método para la ejecución de servicios públicos distribuidos.
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
CN112180958B (zh) * 2020-09-23 2022-08-19 北航歌尔(潍坊)智能机器人有限公司 机器人及其运动协调方法、控制装置和可读存储介质

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Also Published As

Publication number Publication date
EP0488693A3 (en) 1993-03-03
DE69124486T2 (de) 1997-05-15
US5221883A (en) 1993-06-22
EP0488693A2 (de) 1992-06-03
EP0488693B1 (de) 1997-01-29

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Legal Events

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8364 No opposition during term of opposition