DE69306662D1 - Steuerungssystem für die Lagestabilisierung eines beweglichen Roboters, insbesondere eines Roboters mit Beinen - Google Patents

Steuerungssystem für die Lagestabilisierung eines beweglichen Roboters, insbesondere eines Roboters mit Beinen

Info

Publication number
DE69306662D1
DE69306662D1 DE69306662T DE69306662T DE69306662D1 DE 69306662 D1 DE69306662 D1 DE 69306662D1 DE 69306662 T DE69306662 T DE 69306662T DE 69306662 T DE69306662 T DE 69306662T DE 69306662 D1 DE69306662 D1 DE 69306662D1
Authority
DE
Germany
Prior art keywords
robot
legs
control system
position stabilization
movable
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
DE69306662T
Other languages
English (en)
Other versions
DE69306662T2 (de
Inventor
Toru Takenaka
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 DE69306662D1 publication Critical patent/DE69306662D1/de
Application granted granted Critical
Publication of DE69306662T2 publication Critical patent/DE69306662T2/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)
DE69306662T 1992-05-29 1993-06-01 Steuerungssystem für die Lagestabilisierung eines beweglichen Roboters, insbesondere eines Roboters mit Beinen Expired - Lifetime DE69306662T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16429792A JP3269852B2 (ja) 1992-05-29 1992-05-29 脚式移動ロボットの姿勢安定化制御装置

Publications (2)

Publication Number Publication Date
DE69306662D1 true DE69306662D1 (de) 1997-01-30
DE69306662T2 DE69306662T2 (de) 1997-04-30

Family

ID=15790443

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69306662T Expired - Lifetime DE69306662T2 (de) 1992-05-29 1993-06-01 Steuerungssystem für die Lagestabilisierung eines beweglichen Roboters, insbesondere eines Roboters mit Beinen

Country Status (4)

Country Link
US (1) US5459659A (de)
EP (1) EP0572285B1 (de)
JP (1) JP3269852B2 (de)
DE (1) DE69306662T2 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111846009A (zh) * 2020-08-03 2020-10-30 哈尔滨工程大学 一种水下多足仿生蟹机器人多足协同容错控制方法

Families Citing this family (112)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5526254A (en) * 1992-06-05 1996-06-11 Fujitsu Limited Simulation method and apparatus for manipulator apparatus, simulation and control method and apparatus for manipulator apparatus, and control method and apparatus for manipulator apparatus
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
US5753280A (en) * 1996-06-28 1998-05-19 Husky Injection Molding Systems Ltd. Compact and torque free side entry trolley robot
US5872893A (en) * 1996-07-25 1999-02-16 Honda Giken Kogyo Kabushiki Kaisha Gait generation system of legged mobile robot
DE19636102A1 (de) * 1996-09-05 1998-03-12 Fraunhofer Ges Forschung Verfahren und Vorrichtung zur Steuerung der Bewegung eines Trägers
EP0965416B1 (de) 1996-12-19 2005-12-07 Honda Giken Kogyo Kabushiki Kaisha Haltungskontrolleur einen sich auf beinen bewegenden robotern
JP3628826B2 (ja) 1996-12-24 2005-03-16 本田技研工業株式会社 脚式移動ロボットの遠隔制御システム
EP1514777B1 (de) 1997-01-31 2009-03-11 Honda Giken Kogyo Kabushiki Kaisha Steuerungssystem eines beweglichen Roboters mit Beinen
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
US6353773B1 (en) 1997-04-21 2002-03-05 Honda Giken Kogyo Kabushiki Kaissha Remote control system for biped locomotion robot
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
DE69943148D1 (de) * 1998-04-20 2011-03-03 Honda Motor Co Ltd Steuereinheit für einen mit beinen beweglichen roboter
US6266576B1 (en) * 1998-05-11 2001-07-24 Honda Giken Kogyo Kabushiki Kaisha Legged moving robot
JP4609684B2 (ja) * 1999-04-05 2011-01-12 ソニー株式会社 ロボット、サーボ回路、アクチュエータ、ロボットの制御方法及びアクチュエータの制御方法
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
JP3555107B2 (ja) * 1999-11-24 2004-08-18 ソニー株式会社 脚式移動ロボット及び脚式移動ロボットの動作制御方法
US6618631B1 (en) * 2000-04-25 2003-09-09 Georgia Tech Research Corporation Adaptive control system having hedge unit and related apparatus and methods
US6633783B1 (en) 2000-06-06 2003-10-14 Honda Giken Kogyo Kabushiki Kaisha Fuzzy logic based control
WO2002028601A1 (fr) 2000-09-29 2002-04-11 Honda Giken Kogyo Kabushiki Kaisha Robot bipede
US7073614B2 (en) 2000-10-12 2006-07-11 Honda Giken Kogyo Kabushiki Kaisha Bipedal robot with storage battery
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
JP4252721B2 (ja) 2000-11-17 2009-04-08 本田技研工業株式会社 二足歩行ロボット
JP3726032B2 (ja) 2001-04-27 2005-12-14 本田技研工業株式会社 脚式移動ロボットの目標運動生成装置
JP3760186B2 (ja) * 2001-06-07 2006-03-29 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並びに歩行制御方法
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
US7623944B2 (en) * 2001-06-29 2009-11-24 Honda Motor Co., Ltd. System and method of estimating joint loads in a three-dimensional system
US7217247B2 (en) * 2002-09-23 2007-05-15 Honda Giken Kogyo Kabushiki Kaisha Gravity compensation method in a human assist system and a human assist system with gravity compensation control
US7469166B2 (en) * 2001-06-29 2008-12-23 Honda Motor Co., Ltd. System and method of predicting novel motion in a serial chain system
US7135003B2 (en) * 2001-06-29 2006-11-14 Honda Giken Kogyo Kabushiki Kaisha Feedback estimation of joint forces and joint moments
US7650204B2 (en) * 2001-06-29 2010-01-19 Honda Motor Co., Ltd. Active control of an ankle-foot orthosis
US7774177B2 (en) * 2001-06-29 2010-08-10 Honda Motor Co., Ltd. Exoskeleton controller for a human-exoskeleton system
US7390309B2 (en) * 2002-09-23 2008-06-24 Honda Motor Co., Ltd. Human assist system using gravity compensation control system and method using multiple feasibility parameters
US7684896B2 (en) * 2001-06-29 2010-03-23 Honda Motor Co., Ltd. System and method of estimating joint loads using an approach of closed form dynamics
JP4133216B2 (ja) * 2001-10-29 2008-08-13 本田技研工業株式会社 人間補助装置のシミュレーション・システム、方法、およびコンピュータ・プログラム
EP1473122B1 (de) * 2001-12-28 2010-10-13 Honda Giken Kogyo Kabushiki Kaisha Vorrichtung zur steuerung des ganges für mobilen roboter mit beinen
KR100924505B1 (ko) 2002-01-18 2009-11-02 혼다 기켄 고교 가부시키가이샤 다리식 이동로봇의 제어장치
JP3811072B2 (ja) * 2002-01-18 2006-08-16 本田技研工業株式会社 移動ロボットの異常検知装置
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
EP2305436B1 (de) * 2002-03-18 2015-10-28 Sony Corporation Robotervorrichtung und Verfahren für einen fortbewegungsfähigen Roboter
JP4246696B2 (ja) * 2002-04-26 2009-04-02 本田技研工業株式会社 脚式移動ロボットの自己位置推定装置
JP4225968B2 (ja) * 2002-04-26 2009-02-18 本田技研工業株式会社 脚式移動ロボットの制御装置
JP3833567B2 (ja) 2002-05-01 2006-10-11 本田技研工業株式会社 移動ロボットの姿勢制御装置
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
JP2004074370A (ja) * 2002-08-21 2004-03-11 Ntt Docomo Inc 二足歩行ロボットの遠隔操作システム及び遠隔操作装置
US7402142B2 (en) 2002-09-23 2008-07-22 Honda Giken Kogyo Kabushiki Kaisha Method and processor for obtaining moments and torques in a biped walking system
US7366587B2 (en) 2002-12-05 2008-04-29 Sony Corporation Legged mobile robot
JP2004181601A (ja) * 2002-12-05 2004-07-02 Sony Corp 脚式移動ロボット
JP2004181600A (ja) * 2002-12-05 2004-07-02 Sony Corp 脚式移動ロボット
JP4086765B2 (ja) * 2003-11-28 2008-05-14 ソニー株式会社 ロボット装置
JP2004181599A (ja) * 2002-12-05 2004-07-02 Sony Corp 脚式移動ロボット
US7401057B2 (en) 2002-12-10 2008-07-15 Asset Trust, Inc. Entity centric computer system
AU2003212000A1 (en) * 2003-02-14 2004-09-06 Honda Giken Kogyo Kabushiki Kaisha Abnormality detector of moving robot
JP4246534B2 (ja) * 2003-04-17 2009-04-02 本田技研工業株式会社 二足歩行移動体の床反力作用点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
US7379789B2 (en) 2003-06-27 2008-05-27 Honda Motor Co., Ltd. Gait generating device of legged mobile robot and legged mobile robot controller
EP1649983B1 (de) * 2003-06-27 2010-09-22 Honda Motor Co., Ltd. Gangerzeugungsvorrichtung für beweglichen roboter mit beinen
KR20050005995A (ko) * 2003-07-08 2005-01-15 삼성전자주식회사 2족 보행 이동 장치의 보행 제어 방법
JP4587738B2 (ja) 2003-08-25 2010-11-24 ソニー株式会社 ロボット装置及びロボットの姿勢制御方法
US7603199B2 (en) 2003-11-27 2009-10-13 Honda Motor Co., Ltd. Control device for mobile body
JP4472592B2 (ja) * 2004-08-30 2010-06-02 本田技研工業株式会社 運動体の制御方法、制御システム、制御プログラム
JP4501601B2 (ja) * 2004-09-03 2010-07-14 トヨタ自動車株式会社 脚式ロボットとその制御方法ならびに歩容データの作成装置と作成方法
JP4485887B2 (ja) * 2004-09-17 2010-06-23 本田技研工業株式会社 脚式移動ロボットの力センサ異常検知装置
DE102004045805A1 (de) * 2004-09-22 2006-04-13 Ferenc Farkas Vorrichtung und Verfahren zur Stabilisierung zweibeiniger Roboter
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
JP4577607B2 (ja) * 2004-10-20 2010-11-10 株式会社安川電機 ロボットの制御装置およびロボットシステム
JP2006136962A (ja) * 2004-11-11 2006-06-01 Hitachi Ltd 移動ロボット
JP4384021B2 (ja) * 2004-12-14 2009-12-16 本田技研工業株式会社 脚式ロボットの制御装置
US8713025B2 (en) 2005-03-31 2014-04-29 Square Halt Solutions, Limited Liability Company Complete context search system
JP4810880B2 (ja) * 2005-05-10 2011-11-09 トヨタ自動車株式会社 ロボットとその制御方法
WO2006132330A1 (ja) * 2005-06-08 2006-12-14 Nagoya Institute Of Technology 脚式移動体の平衡点安定化装置
US8082062B2 (en) * 2005-06-10 2011-12-20 Honda Motor Co., Ltd. Regenerative actuation in motion control
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
JP5071140B2 (ja) * 2008-02-14 2012-11-14 トヨタ自動車株式会社 脚式ロボット、及びその制御方法
JP5228589B2 (ja) * 2008-04-10 2013-07-03 トヨタ自動車株式会社 脚式ロボット、及びその制御方法
FR2945624B1 (fr) * 2009-05-15 2011-06-10 Mbda France Procede et systeme d'estimation d'une trajectoire d'un mobile
US20110276445A1 (en) * 2009-10-06 2011-11-10 Chess Steven M Timekeeping Computer System with Image Capture and Quick View
US20110082777A1 (en) * 2009-10-06 2011-04-07 Chess Steven M Timekeeping Computer System with Image Capture and Quick View
JP5232124B2 (ja) 2009-10-28 2013-07-10 本田技研工業株式会社 脚式移動ロボットの制御装置
JP5483997B2 (ja) 2009-10-28 2014-05-07 本田技研工業株式会社 脚式移動ロボットの制御装置
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
KR101687630B1 (ko) * 2010-01-11 2016-12-20 삼성전자주식회사 보행 로봇 및 그 균형 제어 방법
JP5377352B2 (ja) * 2010-02-05 2013-12-25 トヨタ自動車株式会社 車両用動力伝達装置の発進制御装置
WO2012011182A1 (ja) * 2010-07-22 2012-01-26 トヨタ自動車株式会社 二足歩行ロボット及び二足歩行ロボットの着地タイミング決定方法
KR101766755B1 (ko) * 2010-08-17 2017-08-10 삼성전자주식회사 보행 로봇 및 그 제어방법
KR20120024098A (ko) * 2010-09-06 2012-03-14 삼성전자주식회사 보행 로봇 및 그 제어방법
KR20120060578A (ko) * 2010-12-02 2012-06-12 삼성전자주식회사 보행 로봇 및 그 자세 제어 방법
KR101985790B1 (ko) * 2012-02-21 2019-06-04 삼성전자주식회사 보행 로봇 및 그 제어 방법
JP6015474B2 (ja) * 2013-02-05 2016-10-26 トヨタ自動車株式会社 脚式ロボットの制御方法および脚式ロボット
WO2015034741A1 (en) * 2013-09-03 2015-03-12 The General Hospital Corporation Stabilization system for robotic technology
JP5910647B2 (ja) 2014-02-19 2016-04-27 トヨタ自動車株式会社 移動ロボットの移動制御方法
US20150262113A1 (en) * 2014-03-11 2015-09-17 Bank Of America Corporation Work status monitoring and reporting
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
US9849926B2 (en) * 2014-07-23 2017-12-26 Boston Dynamics, Inc. Predictively adjustable hydraulic pressure rails
US9308648B2 (en) * 2014-07-24 2016-04-12 Google Inc. Systems and methods for robotic self-right
US10081098B1 (en) 2014-08-25 2018-09-25 Boston Dynamics, Inc. Generalized coordinate surrogates for integrated estimation and control
US9387588B1 (en) 2014-08-25 2016-07-12 Google Inc. Handling gait disturbances with asynchronous timing
US9618937B1 (en) 2014-08-25 2017-04-11 Google Inc. Slip detection using robotic limbs
US9623556B1 (en) * 2014-09-03 2017-04-18 X Development Llc Robotic sole joint
US9446518B1 (en) * 2014-11-11 2016-09-20 Google Inc. Leg collision avoidance in a robotic device
US9499218B1 (en) 2014-12-30 2016-11-22 Google Inc. Mechanically-timed footsteps for a robotic device
US9594377B1 (en) * 2015-05-12 2017-03-14 Google Inc. Auto-height swing adjustment
US9586316B1 (en) 2015-09-15 2017-03-07 Google Inc. Determination of robotic step path
US9789919B1 (en) 2016-03-22 2017-10-17 Google Inc. Mitigating sensor noise in legged robots
JP6682341B2 (ja) * 2016-05-10 2020-04-15 パナソニック株式会社 歩行制御方法、歩行制御プログラム及び２足歩行ロボット
CN106814610A (zh) * 2017-01-23 2017-06-09 长春工业大学 基于非线性模型预测控制的双足机器人步态优化的信赖域‑sqp方法
CN106909738B (zh) * 2017-02-24 2020-07-24 北京工商大学 一种模型参数辨识方法
JP6781101B2 (ja) * 2017-04-27 2020-11-04 国立大学法人京都大学 非線形システムの制御方法、二足歩行ロボットの制御装置、二足歩行ロボットの制御方法及びそのプログラム
CN111377004B (zh) * 2018-12-28 2021-11-16 深圳市优必选科技有限公司 一种双足机器人步态控制方法以及双足机器人
CN111070201B (zh) * 2019-08-30 2022-09-16 南京理工大学 四足机器人在负载突变下基于zmp理论的反应式鲁棒控制方法
CN111015653B (zh) * 2019-12-13 2021-06-04 深圳市优必选科技股份有限公司 机器人控制方法、装置、计算机可读存储介质及机器人
CN111284584B (zh) * 2020-02-11 2021-01-08 之江实验室 一种双足机器人的单足支撑相步态规划方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5413883A (en) * 1977-07-04 1979-02-01 Hitachi Ltd Abnormalness detector of automatic controller
US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
JPS6297005A (ja) * 1985-10-23 1987-05-06 Hitachi Ltd 多関節ロボツトの制御装置
JPS62286101A (ja) * 1986-06-04 1987-12-12 Toshiba Corp 多自由度マニピユレ−タの制御装置
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
US4797835A (en) * 1986-12-16 1989-01-10 Nissan Motor Company, Limited Model follower control apparatus
JPH02136904A (ja) * 1988-11-18 1990-05-25 Hitachi Ltd 動作系列自己生成機能を持つ運動制御装置
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
DE69113486T2 (de) * 1990-01-22 1996-05-30 Matsushita Electric Ind Co Ltd Adaptives Regelungssystem.
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
EP0488693B1 (de) * 1990-11-30 1997-01-29 Honda Giken Kogyo Kabushiki Kaisha System zur Steuerung der Fortbewegung eines Schreitroboters mit Beinen

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111846009A (zh) * 2020-08-03 2020-10-30 哈尔滨工程大学 一种水下多足仿生蟹机器人多足协同容错控制方法

Also Published As

Publication number Publication date
US5459659A (en) 1995-10-17
EP0572285B1 (de) 1996-12-18
JP3269852B2 (ja) 2002-04-02
JPH05337849A (ja) 1993-12-21
DE69306662T2 (de) 1997-04-30
EP0572285A1 (de) 1993-12-01

Similar Documents

Publication Publication Date Title
DE69306662D1 (de) Steuerungssystem für die Lagestabilisierung eines beweglichen Roboters, insbesondere eines Roboters mit Beinen
DE69300859D1 (de) Steuerungssystem für die Fortbewegung eines mobilen Roboters.
DE69410107T2 (de) Regler, insbesondere für pneumatische, passiv kontinuierliche bewegungsvorrichtungen
DE69102382D1 (de) Steuerungssystem für die Fortbewegung eines Schreit-Roboters.
BR9204189A (pt) Conjunto vedador de haste de valvula
BR9104954A (pt) Dispositivo de vedacao de haste de valvula
DE68909004D1 (de) Kodiervorrichtung für die absolute lage.
FI921244A0 (fi) Ohjaustangossa oleva käyttölaitesovitelma
DE59206775D1 (de) Regler, insbesondere Flugregler
BR9407901A (pt) Servomotor particularmente para uma válvula de fechamento rápido
FR2672956B1 (fr) Valve de regulation pneumatique.
IT1272731B (it) Attuatore lineare con ammortizzatore pneumatico regolabile in posizione
DE59300025D1 (de) Verpackungsmaschine mit bewegbaren Arbeitsstationen.
DE59401082D1 (de) Zentriereinrichtung, insbesondere für lenkventile
DE59400262D1 (de) Elektropneumatisches Steuerventil
FR2676412B1 (fr) Servomoteur pneumatique.
DE59302209D1 (de) Zentriereinrichtung, insbesondere für lenkventile
DE69200220D1 (de) Pneumatischer Servomotor.
FR2696559B1 (fr) Regulateur de position pneumatique.
FR2684059B1 (fr) Servomoteur pneumatique.
DE69425101T2 (de) Rechner für die diskrete Cosinustransformation
DE69309837D1 (de) Steuerventil mit abgeschrägten Steuerflächen für eine Lenkung
FR2689076B1 (fr) Servomoteur pneumatique.
DE69424377D1 (de) Rechner für die diskrete Cosinus-Transformation
DE69213692D1 (de) Verbindungstange für die Steuerung eines beweglichen Elementes, insbesondere für eine Schwenkklappe

Legal Events

Date Code Title Description
8364 No opposition during term of opposition