JP3599244B2 - ロボット装置、ロボット装置の運動制御装置並びに運動制御方法 - Google Patents

ロボット装置、ロボット装置の運動制御装置並びに運動制御方法 Download PDF

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JP3599244B2
JP3599244B2 JP2003365549A JP2003365549A JP3599244B2 JP 3599244 B2 JP3599244 B2 JP 3599244B2 JP 2003365549 A JP2003365549 A JP 2003365549A JP 2003365549 A JP2003365549 A JP 2003365549A JP 3599244 B2 JP3599244 B2 JP 3599244B2
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center
gravity
motion
trajectory
robot device
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JP2004167676A (ja
JP2004167676A5 (enExample
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憲一郎 長阪
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Sony Corp
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Sony Corp
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Priority to JP2003365549A priority Critical patent/JP3599244B2/ja
Priority to AU2003280608A priority patent/AU2003280608A1/en
Priority to US10/500,372 priority patent/US7400939B2/en
Priority to PCT/JP2003/013870 priority patent/WO2004041484A1/ja
Priority to EP03769977.4A priority patent/EP1559519B1/en
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    • 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

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
JP2003365549A 2002-11-06 2003-10-27 ロボット装置、ロボット装置の運動制御装置並びに運動制御方法 Expired - Fee Related JP3599244B2 (ja)

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Application Number Priority Date Filing Date Title
JP2003365549A JP3599244B2 (ja) 2002-11-06 2003-10-27 ロボット装置、ロボット装置の運動制御装置並びに運動制御方法
AU2003280608A AU2003280608A1 (en) 2002-11-06 2003-10-29 Robot device, motion control device for robot device and motion control method
US10/500,372 US7400939B2 (en) 2002-11-06 2003-10-29 Robot device, motion control device for robot device and motion control method
PCT/JP2003/013870 WO2004041484A1 (ja) 2002-11-06 2003-10-29 ロボット装置、ロボット装置の運動制御装置及び運動制御方法
EP03769977.4A EP1559519B1 (en) 2002-11-06 2003-10-29 Robot device, motion control device for robot device and motion control method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002322582 2002-11-06
JP2003365549A JP3599244B2 (ja) 2002-11-06 2003-10-27 ロボット装置、ロボット装置の運動制御装置並びに運動制御方法

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JP2004167676A JP2004167676A (ja) 2004-06-17
JP3599244B2 true JP3599244B2 (ja) 2004-12-08
JP2004167676A5 JP2004167676A5 (enExample) 2005-05-26

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US (1) US7400939B2 (enExample)
EP (1) EP1559519B1 (enExample)
JP (1) JP3599244B2 (enExample)
AU (1) AU2003280608A1 (enExample)
WO (1) WO2004041484A1 (enExample)

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* Cited by examiner, † Cited by third party
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US7957835B2 (en) 2005-02-03 2011-06-07 Toyota Jidosha Kabushiki Kaisha Legged robot and control method thereof
US8108070B2 (en) 2006-07-18 2012-01-31 Toyota Jidosha Kabushiki Kaisha Robot and control method thereof
US8442687B2 (en) 2006-01-16 2013-05-14 Sony Corporation Control system, control method, and computer program

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JP4735927B2 (ja) * 2004-06-28 2011-07-27 独立行政法人産業技術総合研究所 人間型ロボットの制御装置
JP4492395B2 (ja) * 2005-03-09 2010-06-30 トヨタ自動車株式会社 脚式ロボットとその動作制御方法
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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
JP4456561B2 (ja) * 2005-12-12 2010-04-28 本田技研工業株式会社 自律移動ロボット
US7788068B2 (en) * 2006-01-31 2010-08-31 Autodesk, Inc. Transferring load information and result information between analysis and design software
JP5319056B2 (ja) * 2006-08-01 2013-10-16 トヨタ自動車株式会社 燃料電池システム
JP4692443B2 (ja) 2006-09-06 2011-06-01 トヨタ自動車株式会社 脚式ロボット
JP2008087141A (ja) * 2006-10-05 2008-04-17 Toyota Motor Corp 脚式移動ロボットの動作データ作成装置及び作成方法
JP4392037B2 (ja) 2007-09-12 2009-12-24 トヨタ自動車株式会社 脚式ロボット、及びその制御方法
JP4440956B2 (ja) 2007-09-12 2010-03-24 トヨタ自動車株式会社 脚式ロボット、及びその制御方法
EP2093025B1 (en) * 2007-10-23 2012-05-16 Honda Motor Co., Ltd. Two-legged walking robot
JP5035005B2 (ja) * 2008-02-19 2012-09-26 トヨタ自動車株式会社 脚式ロボット、その制御方法、その制御システム
JP2009214255A (ja) * 2008-03-12 2009-09-24 Toyota Motor Corp 脚式ロボット、及びその制御方法
TWI375140B (en) * 2008-10-13 2012-10-21 Ind Tech Res Inst Accumulative method for estimating a processing velocity limitation and method for controlling acceleration and deceleration before interpolation
JP5440152B2 (ja) * 2009-12-22 2014-03-12 トヨタ自動車株式会社 脚式ロボットとそのための歩容データ生成方法
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
KR101687628B1 (ko) * 2010-01-12 2016-12-21 삼성전자주식회사 로봇의 보행 제어 장치 및 그 제어 방법
JP5463991B2 (ja) * 2010-03-18 2014-04-09 トヨタ自動車株式会社 ２脚歩行ロボット
KR101200191B1 (ko) * 2010-07-14 2012-11-13 서울대학교산학협력단 데이터 기반 바이페드 제어 장치 및 방법
CN103003031B (zh) 2010-07-22 2014-07-02 丰田自动车株式会社 双脚行走机器人以及双脚行走机器人的着地时机确定方法
US9024772B2 (en) 2010-09-28 2015-05-05 Xianghui Wang Multi sensor position and orientation measurement system
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KR101778027B1 (ko) * 2010-12-21 2017-09-13 삼성전자주식회사 보행 로봇 및 그 자세 제어 방법
JP5898199B2 (ja) * 2011-07-15 2016-04-06 パナソニック株式会社 姿勢推定装置、姿勢推定方法、および姿勢推定プログラム
JP5623375B2 (ja) * 2011-12-02 2014-11-12 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
KR101428328B1 (ko) * 2012-12-27 2014-08-08 현대자동차주식회사 로봇의 보행제어방법 및 시스템
US8915116B2 (en) * 2013-01-23 2014-12-23 Freescale Semiconductor, Inc. Systems and method for gyroscope calibration
CN103217903B (zh) * 2013-04-07 2016-01-20 南京邮电大学 基于双平衡控制机制的仿人足球机器人全向踢球方法
JP6330287B2 (ja) * 2013-10-29 2018-05-30 セイコーエプソン株式会社 ロボット、ロボット用当接部材
US9259838B1 (en) * 2014-07-24 2016-02-16 Google Inc. Systems and methods for ground plane estimation
US10081098B1 (en) * 2014-08-25 2018-09-25 Boston Dynamics, Inc. Generalized coordinate surrogates for integrated estimation and control
US9517561B2 (en) * 2014-08-25 2016-12-13 Google Inc. Natural pitch and roll
CN105511465B (zh) * 2015-12-02 2017-08-04 歌尔股份有限公司 一种双足机器人的步态控制方法和装置
US9868210B1 (en) * 2015-12-30 2018-01-16 Google Inc. Methods and systems for planning a body position of a robotic device
CN106514653B (zh) * 2016-11-07 2019-01-22 南京邮电大学 一种基于贝塞尔曲线插值的仿人足球机器人踢球方法
US10351189B2 (en) * 2016-12-13 2019-07-16 Boston Dynamics, Inc. Whole body manipulation on a legged robot using dynamic balance
CN109634100B (zh) * 2018-12-30 2021-11-02 深圳市优必选科技有限公司 仿人机器人行走加速度补偿方法、装置及仿人机器人
CN111766885B (zh) * 2020-07-08 2023-08-11 清华大学深圳国际研究生院 一种四足机器人的静步态规划方法
JP7415989B2 (ja) * 2021-03-16 2024-01-17 カシオ計算機株式会社 ロボット、ロボットの制御方法及びプログラム
WO2023037139A1 (en) * 2021-09-08 2023-03-16 Ptt Exploration And Production Public Company Limited A method and system for controlling motion of a multi-segmented walking robot
CN114454981B (zh) * 2021-12-14 2022-11-29 深圳市优必选科技股份有限公司 双足机器人的弹跳运动控制方法、装置及双足机器人

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7957835B2 (en) 2005-02-03 2011-06-07 Toyota Jidosha Kabushiki Kaisha Legged robot and control method thereof
US8442687B2 (en) 2006-01-16 2013-05-14 Sony Corporation Control system, control method, and computer program
US8108070B2 (en) 2006-07-18 2012-01-31 Toyota Jidosha Kabushiki Kaisha Robot and control method thereof

Also Published As

Publication number Publication date
EP1559519B1 (en) 2014-10-01
WO2004041484A1 (ja) 2004-05-21
EP1559519A4 (en) 2012-01-04
JP2004167676A (ja) 2004-06-17
EP1559519A1 (en) 2005-08-03
AU2003280608A1 (en) 2004-06-07
US7400939B2 (en) 2008-07-15
US20050038560A1 (en) 2005-02-17

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