JP2014518774A5 - - Google Patents

Download PDF

Info

Publication number
JP2014518774A5
JP2014518774A5 JP2014501193A JP2014501193A JP2014518774A5 JP 2014518774 A5 JP2014518774 A5 JP 2014518774A5 JP 2014501193 A JP2014501193 A JP 2014501193A JP 2014501193 A JP2014501193 A JP 2014501193A JP 2014518774 A5 JP2014518774 A5 JP 2014518774A5
Authority
JP
Japan
Prior art keywords
humanoid robot
change rate
determining
momentum change
foot
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
JP2014501193A
Other languages
English (en)
Japanese (ja)
Other versions
JP5845334B2 (ja
JP2014518774A (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/US2012/029848 external-priority patent/WO2012129250A2/en
Publication of JP2014518774A publication Critical patent/JP2014518774A/ja
Publication of JP2014518774A5 publication Critical patent/JP2014518774A5/ja
Application granted granted Critical
Publication of JP5845334B2 publication Critical patent/JP5845334B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2014501193A 2011-03-21 2012-03-20 ロボット制御方法および記憶媒体 Expired - Fee Related JP5845334B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201161454933P 2011-03-21 2011-03-21
US61/454,933 2011-03-21
PCT/US2012/029848 WO2012129250A2 (en) 2011-03-21 2012-03-20 Humanoid robot push recovery on level and non-level ground

Publications (3)

Publication Number Publication Date
JP2014518774A JP2014518774A (ja) 2014-08-07
JP2014518774A5 true JP2014518774A5 (enExample) 2015-04-30
JP5845334B2 JP5845334B2 (ja) 2016-01-20

Family

ID=46878014

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2014501193A Expired - Fee Related JP5845334B2 (ja) 2011-03-21 2012-03-20 ロボット制御方法および記憶媒体

Country Status (3)

Country Link
US (1) US8849454B2 (enExample)
JP (1) JP5845334B2 (enExample)
WO (1) WO2012129250A2 (enExample)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130063230A (ko) * 2011-12-06 2013-06-14 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
CN103019096B (zh) * 2012-11-23 2015-09-16 北京理工大学 一种基于加速度优化的仿人机器人逆动力学控制器
US9193403B2 (en) 2013-03-20 2015-11-24 Honda Motor Co., Ltd Humanoid fall damage reduction
US9044859B2 (en) 2013-10-31 2015-06-02 Disney Enterprises, Inc. Method for gait generation and tracking control for a bipedal walking robot
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
US9517561B2 (en) * 2014-08-25 2016-12-13 Google Inc. Natural pitch and roll
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
US9821461B1 (en) * 2015-10-09 2017-11-21 X Development Llc Determining a trajectory for a walking robot to prevent motor overheating
US10017218B1 (en) 2015-11-11 2018-07-10 Boston Dynamics, Inc. Achieving a target gait behavior in a legged robot
US9925667B1 (en) 2016-01-25 2018-03-27 Boston Dynamics, Inc. Continuous slip recovery
US9789919B1 (en) 2016-03-22 2017-10-17 Google Inc. Mitigating sensor noise in legged robots
US10977274B2 (en) * 2017-10-05 2021-04-13 Sungard Availability Services, Lp Unified replication and recovery
CN110053039B (zh) * 2018-01-17 2021-10-29 深圳市优必选科技有限公司 一种机器人行走中重力补偿的方法、装置及机器人
US20200306998A1 (en) * 2019-03-25 2020-10-01 Boston Dynamics, Inc. Multi-Body Controller
CN113119102B (zh) * 2019-12-31 2022-09-20 深圳市优必选科技股份有限公司 基于浮动基飞轮倒立摆的仿人机器人建模方法和装置
CN112256030B (zh) * 2020-10-20 2021-06-15 乐聚(深圳)机器人技术有限公司 机器人的足迹生成方法、装置、机器人及介质
CN113031639B (zh) * 2021-03-22 2024-03-12 深圳市优必选科技股份有限公司 机器人步长处理方法、装置、机器人控制设备及存储介质
CN113093780B (zh) * 2021-04-06 2022-01-14 中山大学 一种基于降阶极点配置法的机器人平衡控制方法及装置
CN113305839B (zh) * 2021-05-26 2022-08-19 深圳市优必选科技股份有限公司 机器人的导纳控制方法、导纳控制系统和机器人
CN113359800B (zh) * 2021-06-30 2024-08-09 深圳市优必选科技股份有限公司 机器人行走控制方法、装置、机器人控制设备及存储介质
US12097619B2 (en) * 2022-09-26 2024-09-24 Fanuc Corporation Predictive control method for torque-rate control and vibration suppression
CN115686012B (zh) * 2022-10-31 2024-04-12 北京小米机器人技术有限公司 机器人抗扰动方法、装置、设备及介质
KR102810916B1 (ko) * 2022-11-14 2025-05-22 주식회사 레인보우로보틱스 복수의 다리를 갖는 로봇 및 그것의 터치다운 위치 결정 방법
CN117950317B (zh) * 2024-01-02 2024-11-26 南开大学 一种基于在线规划调节的机器人轨迹复原控制方法
CN119200606B (zh) * 2024-09-23 2025-10-21 哈尔滨工业大学 一种双足人形机器人迈步时间调控方法、装置、终端及存储介质

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06170757A (ja) * 1992-04-28 1994-06-21 Honda Motor Co Ltd リンク式移動ロボットの制御装置
JP3132156B2 (ja) * 1992-05-22 2001-02-05 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
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
JP4971977B2 (ja) 2004-03-31 2012-07-11 本田技研工業株式会社 角運動量の変化率に基づいて脚式ロボットを制御する方法
KR101131776B1 (ko) 2004-10-15 2012-04-06 혼다 기켄 고교 가부시키가이샤 다리식 이동 로봇의 보용 생성장치
JP2006116672A (ja) * 2004-10-22 2006-05-11 Tohoku Univ ２脚ロボットの歩行制御装置および歩行制御方式
US7313463B2 (en) * 2005-03-31 2007-12-25 Massachusetts Institute Of Technology Biomimetic motion and balance controllers for use in prosthetics, orthotics and robotics
US7949430B2 (en) * 2006-11-29 2011-05-24 Honda Motor Co., Ltd. Determination of foot placement for humanoid push recovery
WO2009067458A1 (en) * 2007-11-21 2009-05-28 Honda Motor Co., Ltd. Learning capture points for humanoid push recovery
JP2009184034A (ja) * 2008-02-04 2009-08-20 Toyota Motor Corp 脚式ロボット、及びその制御方法
KR20100001567A (ko) 2008-06-27 2010-01-06 삼성전자주식회사 보행 로봇 및 그 제어 방법
US8369991B2 (en) * 2008-12-19 2013-02-05 Honda Motor Co., Ltd. Humanoid fall direction change among multiple objects
US8352077B2 (en) * 2008-12-19 2013-01-08 Honda Motor Co., Ltd. Inertia shaping for humanoid fall direction change
US8554370B2 (en) * 2009-05-15 2013-10-08 Honda Motor Co., Ltd Machine learning approach for predicting humanoid robot fall

Similar Documents

Publication Publication Date Title
JP2014518774A5 (enExample)
JP5845334B2 (ja) ロボット制御方法および記憶媒体
US20240091930A1 (en) Offline optimization to robot behavior
US20240075998A1 (en) Control of robotic devices with non-constant body pitch
WO2015158885A3 (en) Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller
JP6501921B2 (ja) 二足ロボットの歩行制御方法及び歩行制御装置
CN113359800A (zh) 机器人行走控制方法、装置、机器人控制设备及存储介质
CN104407611B (zh) 一种仿人机器人稳定行走的控制方法
CN103217903B (zh) 基于双平衡控制机制的仿人足球机器人全向踢球方法
US9395726B1 (en) Methods and devices for bound and gallop gaits
CN112218744A (zh) 学习多足机器人的敏捷运动的系统和方法
WO2015158884A3 (en) Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller
JP2013521135A (ja) 非水平および非定常の地面上にいる人型ロボットの運動量基準型バランス制御装置
CN114489104B (zh) 机器人迈步控制方法及装置、机器人控制设备和存储介质
CN104589348B (zh) 一种仿人机器人多模态运动转换方法
CN104345735A (zh) 一种基于落脚点补偿器的机器人行走控制方法
WO2025102514A1 (zh) 足式机器人规划与控制方法、装置、机器人及存储介质
Luo et al. Biped robot push and recovery using flywheel model based walking perturbation counteraction
CN112455155B (zh) 多模态变形轮及其控制方法、装置、电子设备和存储介质
Ugurlu et al. On the backward hopping problem of legged robots
CN108089583A (zh) 一种多足机器人运动过渡的方法和装置
Lim et al. Control design to achieve dynamic walking on a bipedal robot with compliance
Chen et al. Step ascent modelling of a two-wheeled robot
Sabaapour et al. Towards passive turning in biped walkers
Zheng et al. Ball walker: A case study of humanoid robot locomotion in non-stationary environments