JP5845334B2 - ロボット制御方法および記憶媒体 - Google Patents

ロボット制御方法および記憶媒体 Download PDF

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Publication number
JP5845334B2
JP5845334B2 JP2014501193A JP2014501193A JP5845334B2 JP 5845334 B2 JP5845334 B2 JP 5845334B2 JP 2014501193 A JP2014501193 A JP 2014501193A JP 2014501193 A JP2014501193 A JP 2014501193A JP 5845334 B2 JP5845334 B2 JP 5845334B2
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Prior art keywords
humanoid robot
change rate
foot
robot
determining
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Japanese (ja)
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JP2014518774A5 (enExample
JP2014518774A (ja
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ユン、セウンクック
ゴスワミ、アムバールシュ
リー、ソンヒ
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
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 JP2014518774A5 (enExample) 2015-04-30
JP5845334B2 true JP5845334B2 (ja) 2016-01-20

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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)

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CN112256030A (zh) * 2020-10-20 2021-01-22 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

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US9193403B2 (en) 2013-03-20 2015-11-24 Honda Motor Co., Ltd Humanoid fall damage reduction
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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
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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
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

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Publication number Priority date Publication date Assignee Title
CN112256030A (zh) * 2020-10-20 2021-01-22 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
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

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US20120245734A1 (en) 2012-09-27
WO2012129250A3 (en) 2014-05-01
US8849454B2 (en) 2014-09-30
JP2014518774A (ja) 2014-08-07
WO2012129250A2 (en) 2012-09-27

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