JP2008532572A5 - - Google Patents

Download PDF

Info

Publication number
JP2008532572A5
JP2008532572A5 JP2007552186A JP2007552186A JP2008532572A5 JP 2008532572 A5 JP2008532572 A5 JP 2008532572A5 JP 2007552186 A JP2007552186 A JP 2007552186A JP 2007552186 A JP2007552186 A JP 2007552186A JP 2008532572 A5 JP2008532572 A5 JP 2008532572A5
Authority
JP
Japan
Prior art keywords
kinematic data
segment
data
determining
original
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.)
Granted
Application number
JP2007552186A
Other languages
English (en)
Japanese (ja)
Other versions
JP2008532572A (ja
JP4392448B2 (ja
Filing date
Publication date
Priority claimed from US11/038,691 external-priority patent/US7469166B2/en
Application filed filed Critical
Publication of JP2008532572A publication Critical patent/JP2008532572A/ja
Publication of JP2008532572A5 publication Critical patent/JP2008532572A5/ja
Application granted granted Critical
Publication of JP4392448B2 publication Critical patent/JP4392448B2/ja
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

JP2007552186A 2005-01-19 2006-01-13 直列連鎖システムにおける未知動作を予測するシステムおよびその方法 Expired - Fee Related JP4392448B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/038,691 US7469166B2 (en) 2001-06-29 2005-01-19 System and method of predicting novel motion in a serial chain system
PCT/US2006/001250 WO2006078553A2 (en) 2005-01-19 2006-01-13 System and method of predicting novel motion in a serial chain system

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2009195233A Division JP2010005421A (ja) 2005-01-19 2009-08-26 直列連鎖システムにおける未知動作を予測するシステムおよびその方法

Publications (3)

Publication Number Publication Date
JP2008532572A JP2008532572A (ja) 2008-08-21
JP2008532572A5 true JP2008532572A5 (https=) 2009-01-15
JP4392448B2 JP4392448B2 (ja) 2010-01-06

Family

ID=36692742

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2007552186A Expired - Fee Related JP4392448B2 (ja) 2005-01-19 2006-01-13 直列連鎖システムにおける未知動作を予測するシステムおよびその方法
JP2009195233A Ceased JP2010005421A (ja) 2005-01-19 2009-08-26 直列連鎖システムにおける未知動作を予測するシステムおよびその方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2009195233A Ceased JP2010005421A (ja) 2005-01-19 2009-08-26 直列連鎖システムにおける未知動作を予測するシステムおよびその方法

Country Status (3)

Country Link
US (1) US7469166B2 (https=)
JP (2) JP4392448B2 (https=)
WO (1) WO2006078553A2 (https=)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7623944B2 (en) * 2001-06-29 2009-11-24 Honda Motor Co., Ltd. System and method of estimating joint loads in a three-dimensional system
US8082062B2 (en) * 2005-06-10 2011-12-20 Honda Motor Co., Ltd. Regenerative actuation in motion control
WO2006138382A2 (en) * 2005-06-14 2006-12-28 Micrablate, Llc Microwave tissue resection tool
JP4682791B2 (ja) * 2005-10-12 2011-05-11 ソニー株式会社 操作空間物理量算出装置及び操作空間物理量算出方法、並びにコンピュータ・プログラム
US7859540B2 (en) * 2005-12-22 2010-12-28 Honda Motor Co., Ltd. Reconstruction, retargetting, tracking, and estimation of motion for articulated systems
US8467904B2 (en) 2005-12-22 2013-06-18 Honda Motor Co., Ltd. Reconstruction, retargetting, tracking, and estimation of pose of articulated systems
US8924021B2 (en) * 2006-04-27 2014-12-30 Honda Motor Co., Ltd. Control of robots from human motion descriptors
US8170287B2 (en) * 2007-10-26 2012-05-01 Honda Motor Co., Ltd. Real-time self collision and obstacle avoidance
US8396595B2 (en) * 2007-11-01 2013-03-12 Honda Motor Co., Ltd. Real-time self collision and obstacle avoidance using weighting matrix
US9098766B2 (en) * 2007-12-21 2015-08-04 Honda Motor Co., Ltd. Controlled human pose estimation from depth image streams
WO2010150352A1 (ja) * 2009-06-23 2010-12-29 パナソニック電工株式会社 他動訓練装置の支持台用動作条件に関連するシミュレーション方法とシステム
JP5506618B2 (ja) * 2009-12-28 2014-05-28 本田技研工業株式会社 ロボットの制御装置
JP6321905B2 (ja) * 2010-02-25 2018-05-09 本田技研工業株式会社 関節システムの制御方法、記憶媒体、制御システム
JP2012081568A (ja) * 2010-10-14 2012-04-26 Sony Corp ロボットの制御装置及び制御方法、並びにコンピューター・プログラム
US9607428B2 (en) 2015-06-30 2017-03-28 Ariadne's Thread (Usa), Inc. Variable resolution virtual reality display system
US10089790B2 (en) 2015-06-30 2018-10-02 Ariadne's Thread (Usa), Inc. Predictive virtual reality display system with post rendering correction
US9588593B2 (en) 2015-06-30 2017-03-07 Ariadne's Thread (Usa), Inc. Virtual reality system with control command gestures
US9588598B2 (en) 2015-06-30 2017-03-07 Ariadne's Thread (Usa), Inc. Efficient orientation estimation system using magnetic, angular rate, and gravity sensors
JP2017144490A (ja) * 2016-02-15 2017-08-24 オムロン株式会社 制御装置、制御システム、制御方法およびプログラム
WO2018064287A1 (en) * 2016-09-28 2018-04-05 Ariadne's Thread (Usa), Inc. Predictive virtual reality display system with post rendering correction
JP7133511B2 (ja) * 2019-06-11 2022-09-08 本田技研工業株式会社 情報処理装置、情報処理方法、およびプログラム
US11325256B2 (en) * 2020-05-04 2022-05-10 Intrinsic Innovation Llc Trajectory planning for path-based applications
CN118456411A (zh) * 2023-01-31 2024-08-09 北京小米机器人技术有限公司 机器人控制方法、装置及存储介质

Family Cites Families (64)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4244120A (en) 1979-06-11 1981-01-13 The United States Of America As Represented By The Secretary Of The Navy Acceleration cueing simulation device
US5136227A (en) 1985-09-10 1992-08-04 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Active gravity compensation device for force control system
US4786847A (en) * 1986-11-20 1988-11-22 Unimation Inc. Digital control for multiaxis robots
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
US5044360A (en) 1989-12-26 1991-09-03 United States Manufacturing Company Orthosis with variable motion controls
US5203346A (en) 1990-03-30 1993-04-20 Whiplash Analysis, Inc. Non-invasive method for determining kinematic movement of the cervical spine
JP3104249B2 (ja) 1990-10-17 2000-10-30 オムロン株式会社 フィードバック制御装置
US5625577A (en) 1990-12-25 1997-04-29 Shukyohojin, Kongo Zen Sohonzan Shorinji Computer-implemented motion analysis method using dynamics
JP2798518B2 (ja) * 1991-04-04 1998-09-17 株式会社神戸製鋼所 マニピュレータの制御装置
US5432417A (en) 1992-04-30 1995-07-11 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobile robot
JP3269852B2 (ja) 1992-05-29 2002-04-02 本田技研工業株式会社 脚式移動ロボットの姿勢安定化制御装置
US5362288A (en) 1993-03-26 1994-11-08 Eli Razon Device for assisting running, walking or jumping
US5323549A (en) 1993-08-16 1994-06-28 Sports Licensing, Inc. Shoe equipped with internal orthotic cradle device
US5570286A (en) 1993-12-23 1996-10-29 Lord Corporation Regenerative system including an energy transformer which requires no external power source to drive same
JP3436320B2 (ja) * 1994-04-18 2003-08-11 富士通株式会社 非線形システムの出力軌道と動特性の制御方法および装置
US5835693A (en) 1994-07-22 1998-11-10 Lynch; James D. Interactive system for simulation and display of multi-body systems in three dimensions
US5659480A (en) 1995-06-27 1997-08-19 Industrial Service And Machine, Incorporated Method for coordinating motion control of a multiple axis machine
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
JPH09171562A (ja) * 1995-12-30 1997-06-30 Kongouzen Souhonzan Shiyourinji 技能開発方法
US5706589A (en) 1996-06-13 1998-01-13 Marc; Michel Energy managing shoe sole construction
US5982389A (en) 1996-06-17 1999-11-09 Microsoft Corporation Generating optimized motion transitions for computer animated objects
RU2107328C1 (ru) 1996-08-14 1998-03-20 Нурахмед Нурисламович Латыпов Способ отслеживания и отображения положения и ориентации пользователя в пространстве и система для осуществления способа
US6364888B1 (en) 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
WO1998026905A1 (fr) 1996-12-19 1998-06-25 Honda Giken Kogyo Kabushiki Kaisha Controleur d'attitude de robot mobile sur jambes
JP3375843B2 (ja) 1997-01-29 2003-02-10 本田技研工業株式会社 ロボットの自律走行方法および自律走行ロボットの制御装置
US5942869A (en) 1997-02-13 1999-08-24 Honda Giken Kogyo Kabushiki Kaisha Mobile robot control device
DE29704393U1 (de) * 1997-03-11 1997-07-17 Aesculap Ag, 78532 Tuttlingen Vorrichtung zur präoperativen Bestimmung der Positionsdaten von Endoprothesenteilen
DE29719250U1 (de) 1997-10-30 1998-05-07 Hauptverband der gewerblichen Berufsgenossenschaften eV, 53757 Sankt Augustin Körperbelastungsmeß- und Analysesystem
US6161080A (en) 1997-11-17 2000-12-12 The Trustees Of Columbia University In The City Of New York Three dimensional multibody modeling of anatomical joints
US6045524A (en) 1997-12-19 2000-04-04 Kabushiki Kaisha Tatematsu Seisakusho Joint of orthotic apparatus
WO1999054095A1 (fr) 1998-04-20 1999-10-28 Honda Giken Kogyo Kabushiki Kaisha Controleur pour robot mobile muni de jambes
ATE439806T1 (de) 1998-09-14 2009-09-15 Univ Leland Stanford Junior Zustandsbestimmung eines gelenks und schadenvorsorge
JP3497402B2 (ja) 1999-02-25 2004-02-16 日本電信電話株式会社 運動状態生成装置及び運動状態生成プログラムを記録した記録媒体
SE514921C2 (sv) 1999-06-22 2001-05-21 Atlas Copco Tools Ab Metod för bestämning av optimala värden för skruvåtdragningsparametrar genom driftssimulering
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
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
US6750866B1 (en) 2000-04-21 2004-06-15 Realistic Dynamics, Inc. Method and system for dynamically filtering the motion of articulated bodies
US6633783B1 (en) 2000-06-06 2003-10-14 Honda Giken Kogyo Kabushiki Kaisha Fuzzy logic based control
US6445983B1 (en) 2000-07-07 2002-09-03 Case Corporation Sensor-fusion navigator for automated guidance of off-road vehicles
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
DE10130485C2 (de) 2001-06-25 2003-06-26 Robert Riener Programmierbarer Gelenksimulator
JP4611580B2 (ja) 2001-06-27 2011-01-12 本田技研工業株式会社 トルク付与システム
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
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
US7135003B2 (en) * 2001-06-29 2006-11-14 Honda Giken Kogyo Kabushiki Kaisha Feedback estimation of joint forces and joint moments
US7623944B2 (en) * 2001-06-29 2009-11-24 Honda Motor Co., Ltd. System and method of estimating joint loads in a three-dimensional system
JP3944566B2 (ja) 2001-07-30 2007-07-11 国立大学法人 東京大学 リンク機構において動力学的に関節加速度を求める方法
US20040031169A1 (en) 2001-09-28 2004-02-19 Jensen Jeffrey L. Neuropathic foot protector
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
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
WO2003099119A1 (en) 2002-05-29 2003-12-04 Japan Science And Technology Agency Body mechanics calculating method, body mechanics model, its model data, and body model producing method
US6856319B2 (en) 2002-06-13 2005-02-15 Microsoft Corporation Interpolation using radial basis functions with application to inverse kinematics
US6971267B2 (en) 2002-09-23 2005-12-06 Honda Giken Kogyo Kabushiki Kaisha Method and processor for obtaining moments and torques in a biped walking system
JP2004174704A (ja) 2002-11-14 2004-06-24 Sony Corp アクチュエータ装置及び多軸型ロボット
US6966882B2 (en) 2002-11-25 2005-11-22 Tibion Corporation Active muscle assistance device and method
US7333111B2 (en) * 2003-04-25 2008-02-19 Honda Giken Kogyo Kabushiki Kaisha Joint component framework for modeling complex joint behavior
CN1806348A (zh) * 2003-06-16 2006-07-19 皇家飞利浦电子股份有限公司 柔性有机显示器中具有吸气剂的双密封
US7010390B2 (en) 2003-07-17 2006-03-07 Kuka Roboter Gmbh Method and system for controlling robots
WO2005028166A1 (ja) 2003-09-22 2005-03-31 Matsushita Electric Industrial Co., Ltd. 弾性体アクチュエータの制御装置及び制御方法
US8075633B2 (en) 2003-09-25 2011-12-13 Massachusetts Institute Of Technology Active ankle foot orthosis
US8579771B2 (en) 2004-08-11 2013-11-12 Omnitek Partners Llc Walk-assist devices and methods
US20060139355A1 (en) 2004-12-27 2006-06-29 Seyoon Tak Physically based motion retargeting filter

Similar Documents

Publication Publication Date Title
JP2008532572A5 (https=)
JP2008527579A5 (https=)
JP6601179B2 (ja) シミュレーション装置、シミュレーション方法、およびシミュレーションプログラム
Huijun et al. Virtual-environment modeling and correction for force-reflecting teleoperation with time delay
CN106313044B (zh) 一种工业机器人前馈力矩补偿方法
CN104011613B (zh) 具有可变刚度的关节的机器人和用于计算所述优化的刚度的方法
JP2014527920A5 (https=)
WO2008040917A3 (fr) Procede, programme d ' ordinateur et systeme de controle fonctionnel d ' une centrale inertielle d ' un mobile
US20160034613A1 (en) Method and apparatus for saving energy and reducing cycle time by using optimal robotic joint configurations
WO2007130225A3 (en) Method for optimizing spatial orientations of computer-aided design models
WO2008005663A3 (en) Robotic guarded motion system and method
WO2008129818A1 (ja) ロボットのモーション編集装置及びそのプログラム
JP2008546453A5 (https=)
Ayusawa et al. Identification of humanoid robots dynamics using floating-base motion dynamics
KR101363092B1 (ko) 로봇시스템의 ｒｉｌｓ 구현 방법 및 시스템
WO2020104864A1 (en) Method and system for predicting motion-outcome data of a robot moving between a given pair of robotic locations
JP5414465B2 (ja) シミュレーションシステム
Saukkoriipi et al. Programming and control for skill-based robots
Boscariol et al. Active position and vibration control of a flexible links mechanism using model-based predictive control
WO2005050493A3 (en) Simulation system and computer-implemented method for simulation and verifying a control system
Kaliński et al. Mechatronic design of strongly nonlinear systems on a basis of three wheeled mobile platform
JPWO2024034010A5 (https=)
Yang et al. Adaptive tracking control for dynamic nonholonomic mobile robots with uncalibrated visual parameters
Fernández et al. Benchmarking using UWSim, Simurv and ROS: An autonomous free floating dredging intervention case study
Mulyadi et al. Digital twin model development for autonomous tram localization