HK1216406A1 - 基於線性預測位置與速度控制器的全向輪式人形機器人 - Google Patents

基於線性預測位置與速度控制器的全向輪式人形機器人

Info

Publication number
HK1216406A1
HK1216406A1 HK16104423.1A HK16104423A HK1216406A1 HK 1216406 A1 HK1216406 A1 HK 1216406A1 HK 16104423 A HK16104423 A HK 16104423A HK 1216406 A1 HK1216406 A1 HK 1216406A1
Authority
HK
Hong Kong
Prior art keywords
linear predictive
robot based
humanoid robot
velocity controller
predictive position
Prior art date
Application number
HK16104423.1A
Other languages
English (en)
Inventor
Jory Lafaye
Cyrille Collette
Pierre-Brice Wieber
Original Assignee
Aldebaran Robotics
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 Aldebaran Robotics filed Critical Aldebaran Robotics
Publication of HK1216406A1 publication Critical patent/HK1216406A1/zh

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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • 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
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Toys (AREA)
HK16104423.1A 2014-04-17 2016-04-18 基於線性預測位置與速度控制器的全向輪式人形機器人 HK1216406A1 (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14305585.3A EP2933069B1 (en) 2014-04-17 2014-04-17 Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller

Publications (1)

Publication Number Publication Date
HK1216406A1 true HK1216406A1 (zh) 2016-11-11

Family

ID=50588609

Family Applications (1)

Application Number Title Priority Date Filing Date
HK16104423.1A HK1216406A1 (zh) 2014-04-17 2016-04-18 基於線性預測位置與速度控制器的全向輪式人形機器人

Country Status (14)

Country Link
US (1) US10232508B2 (zh)
EP (1) EP2933069B1 (zh)
JP (1) JP6496396B2 (zh)
KR (1) KR101977912B1 (zh)
CN (1) CN106573370B (zh)
AU (1) AU2015248711B2 (zh)
CA (1) CA2946049C (zh)
ES (1) ES2746754T3 (zh)
HK (1) HK1216406A1 (zh)
MX (1) MX2016013016A (zh)
NZ (1) NZ725275A (zh)
RU (1) RU2680791C2 (zh)
SG (1) SG11201608204QA (zh)
WO (1) WO2015158885A2 (zh)

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Also Published As

Publication number Publication date
KR101977912B1 (ko) 2019-05-13
KR20170030078A (ko) 2017-03-16
EP2933069B1 (en) 2019-07-03
NZ725275A (en) 2017-12-22
US10232508B2 (en) 2019-03-19
AU2015248711A1 (en) 2016-11-03
SG11201608204QA (en) 2016-10-28
MX2016013016A (es) 2017-10-04
ES2746754T3 (es) 2020-03-06
CA2946049A1 (en) 2015-10-22
CN106573370A (zh) 2017-04-19
RU2016144008A3 (zh) 2018-05-17
CA2946049C (en) 2018-11-20
RU2016144008A (ru) 2018-05-17
JP6496396B2 (ja) 2019-04-03
WO2015158885A2 (en) 2015-10-22
US20170144299A1 (en) 2017-05-25
AU2015248711B2 (en) 2018-02-01
EP2933069A1 (en) 2015-10-21
JP2017513726A (ja) 2017-06-01
WO2015158885A3 (en) 2015-12-10
RU2680791C2 (ru) 2019-02-26
CN106573370B (zh) 2019-06-21

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