DE69300859D1 - Steuerungssystem für die Fortbewegung eines mobilen Roboters. - Google Patents

Steuerungssystem für die Fortbewegung eines mobilen Roboters.

Info

Publication number
DE69300859D1
DE69300859D1 DE69300859T DE69300859T DE69300859D1 DE 69300859 D1 DE69300859 D1 DE 69300859D1 DE 69300859 T DE69300859 T DE 69300859T DE 69300859 T DE69300859 T DE 69300859T DE 69300859 D1 DE69300859 D1 DE 69300859D1
Authority
DE
Germany
Prior art keywords
movement
control system
mobile robot
robot
mobile
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
DE69300859T
Other languages
English (en)
Other versions
DE69300859T2 (de
Inventor
Nobuaki Ozawa
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 DE69300859D1 publication Critical patent/DE69300859D1/de
Application granted granted Critical
Publication of DE69300859T2 publication Critical patent/DE69300859T2/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)
DE69300859T 1992-08-18 1993-08-18 Steuerungssystem für die Fortbewegung eines mobilen Roboters. Expired - Lifetime DE69300859T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP24135192A JP3278467B2 (ja) 1992-08-18 1992-08-18 移動ロボットの制御装置

Publications (2)

Publication Number Publication Date
DE69300859D1 true DE69300859D1 (de) 1996-01-04
DE69300859T2 DE69300859T2 (de) 1996-04-18

Family

ID=17073008

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69300859T Expired - Lifetime DE69300859T2 (de) 1992-08-18 1993-08-18 Steuerungssystem für die Fortbewegung eines mobilen Roboters.

Country Status (4)

Country Link
US (1) US5402050A (de)
EP (1) EP0587327B1 (de)
JP (1) JP3278467B2 (de)
DE (1) DE69300859T2 (de)

Families Citing this family (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
US5548203A (en) * 1994-06-29 1996-08-20 Electric Power Research Institute, Inc. Capacitor polarity-based var correction controller for resonant line conditions and large amplitude line harmonics
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
JP3662996B2 (ja) * 1996-01-25 2005-06-22 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
EP1018467B1 (de) * 1996-07-25 2003-10-22 Honda Giken Kogyo Kabushiki Kaisha Vorrichtung zur nachbildung des ganges für einen zweibeinigen robotor
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
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
EP1120203B1 (de) * 1998-04-20 2011-01-19 Honda Giken Kogyo Kabushiki Kaisha 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
JP4279425B2 (ja) * 1999-11-05 2009-06-17 本田技研工業株式会社 脚式歩行ロボットの足部構造
JP3615702B2 (ja) * 1999-11-25 2005-02-02 ソニー株式会社 脚式移動ロボットの動作制御装置及び動作制御方法、並びに、脚式移動ロボット
JP2001260063A (ja) * 2000-03-21 2001-09-25 Sony Corp 多関節型ロボット及びその動作制御方法
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
JP4119080B2 (ja) * 2000-11-17 2008-07-16 本田技研工業株式会社 人間型ロボットの腕構造
JP2002154076A (ja) * 2000-11-17 2002-05-28 Honda Motor Co Ltd ロボットの腕
JP3377519B2 (ja) 2000-12-22 2003-02-17 ティーディーケイ株式会社 トルクセンサおよびその製造方法
US6494666B2 (en) * 2001-01-26 2002-12-17 Fortrend Engineering Corporation Simplified and enhanced SCARA arm
JP3682525B2 (ja) * 2001-06-07 2005-08-10 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
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
ITMI20012240A1 (it) * 2001-10-25 2003-04-25 Luciano Migliori Dispositivo di bloccaggio con controllo ottico di posizione
JP3598507B2 (ja) * 2002-06-12 2004-12-08 独立行政法人 科学技術振興機構 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
US7188056B2 (en) * 2002-09-09 2007-03-06 Maia Institute Method and apparatus of simulating movement of an autonomous entity through an environment
WO2005088244A1 (ja) 2004-03-17 2005-09-22 Sony Corporation 平面検出装置、平面検出方法、及び平面検出装置を搭載したロボット装置
KR100571839B1 (ko) * 2004-03-31 2006-04-17 삼성전자주식회사 인간형 로봇
JP4706357B2 (ja) * 2005-07-01 2011-06-22 トヨタ自動車株式会社 歩行型ロボット及びその絶対方位推定方法
JP5104355B2 (ja) * 2008-02-01 2012-12-19 富士通株式会社 ロボット制御装置、ロボット制御方法およびロボット制御プログラム
CN104523404B (zh) * 2009-07-01 2018-04-13 瑞克仿生学有限公司 助动器的控制系统
EP2448540B1 (de) * 2009-07-01 2019-04-24 Rex Bionics Limited Steuersystem für eine mobilitätshilfe
US20140165814A1 (en) * 2009-07-30 2014-06-19 Carlos Alberto Ibanez Vignolo "self-playing robot guitar comprising a biodegradable skin-leathern formed carcass and a biodegradable skin-leathern formed musical plectrum, and protein / amino acids"
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
US9339116B2 (en) * 2010-11-04 2016-05-17 Applied Invention, Llc Systems, structures and processes with embedded resistance device
KR20130049029A (ko) * 2011-11-03 2013-05-13 삼성전자주식회사 보행 로봇 및 그 제어 방법
US9156159B2 (en) * 2012-03-08 2015-10-13 Disney Enterprises Inc. Robot cyclic locomotion using a dynamic object
JP6071815B2 (ja) 2013-09-06 2017-02-01 本田技研工業株式会社 脚式移動ロボットの制御装置
JP6068302B2 (ja) * 2013-09-13 2017-01-25 本田技研工業株式会社 脚式移動ロボットの制御装置
US9718187B2 (en) * 2014-06-11 2017-08-01 Canon Kabushiki Kaisha Robot controlling method, robot apparatus, program, recording medium, and method for manufacturing assembly component
JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
CN105269577B (zh) * 2015-06-26 2017-06-13 浙江大学 仿人双足机器人步态切换控制系统及控制方法
CN104986241B (zh) * 2015-06-29 2018-04-24 山东大学（威海） 四足机器人的步态规划方法
CN109693236B (zh) * 2017-10-23 2021-03-02 深圳市优必选科技有限公司 足式机器人着地控制方法及装置
US11599128B2 (en) 2020-04-22 2023-03-07 Boston Dynamics, Inc. Perception and fitting for a stair tracker
US11548151B2 (en) 2019-04-12 2023-01-10 Boston Dynamics, Inc. Robotically negotiating stairs
US12094195B2 (en) 2020-04-20 2024-09-17 Boston Dynamics, Inc. Identifying stairs from footfalls
US12077229B2 (en) 2020-04-22 2024-09-03 Boston Dynamics, Inc. Stair tracking for modeled and perceived terrain
CN113126483A (zh) * 2021-03-18 2021-07-16 北京钢铁侠科技有限公司 一种用于多足机器人控制器的稳定步态控制方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6297006A (ja) * 1985-10-23 1987-05-06 Hitachi Ltd 多関節歩行ロボツト制御装置
JPS63150176A (ja) * 1986-12-15 1988-06-22 工業技術院長 動的歩行ロボツトの歩行制御方法
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
JP2592340B2 (ja) * 1989-12-14 1997-03-19 本田技研工業株式会社 脚式歩行ロボットの関節構造
US5255753A (en) * 1989-12-14 1993-10-26 Honda Giken Kogyo Kabushiki Kaisha Foot structure for legged walking robot
US5221883A (en) * 1990-11-30 1993-06-22 Honda Giken Kogyo Kabushiki Kaisha System for controlling locomotion of legged walking robot
JP2997036B2 (ja) * 1990-11-30 2000-01-11 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
JP3078009B2 (ja) * 1990-11-30 2000-08-21 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
JP2997038B2 (ja) * 1990-11-30 2000-01-11 本田技研工業株式会社 脚式移動ロボットの歩行御制装置

Also Published As

Publication number Publication date
US5402050A (en) 1995-03-28
JPH0663876A (ja) 1994-03-08
EP0587327A1 (de) 1994-03-16
JP3278467B2 (ja) 2002-04-30
EP0587327B1 (de) 1995-11-22
DE69300859T2 (de) 1996-04-18

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