JP5897105B2 - 人型ロボットの転倒損傷低減制御法 - Google Patents

人型ロボットの転倒損傷低減制御法 Download PDF

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Publication number
JP5897105B2
JP5897105B2 JP2014501197A JP2014501197A JP5897105B2 JP 5897105 B2 JP5897105 B2 JP 5897105B2 JP 2014501197 A JP2014501197 A JP 2014501197A JP 2014501197 A JP2014501197 A JP 2014501197A JP 5897105 B2 JP5897105 B2 JP 5897105B2
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Japan
Prior art keywords
robot
torso
controller
body part
control signal
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JP2014501197A
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Japanese (ja)
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JP2014508660A (ja
JP2014508660A5 (enExample
Inventor
リー、サンヒー
ゴスワミ、アムバリッシュ
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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40427—Integrate sensing and action in planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40512—Real time path planning, trajectory generation
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2014501197A 2011-03-21 2012-03-21 人型ロボットの転倒損傷低減制御法 Expired - Fee Related JP5897105B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201161454937P 2011-03-21 2011-03-21
US61/454,937 2011-03-21
PCT/US2012/029874 WO2012129259A1 (en) 2011-03-21 2012-03-21 Damage reduction control for humanoid robot fall

Publications (3)

Publication Number Publication Date
JP2014508660A JP2014508660A (ja) 2014-04-10
JP2014508660A5 JP2014508660A5 (enExample) 2015-05-07
JP5897105B2 true JP5897105B2 (ja) 2016-03-30

Family

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JP2014501197A Expired - Fee Related JP5897105B2 (ja) 2011-03-21 2012-03-21 人型ロボットの転倒損傷低減制御法

Country Status (3)

Country Link
US (1) US8880221B2 (enExample)
JP (1) JP5897105B2 (enExample)
WO (1) WO2012129259A1 (enExample)

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HK1208385A1 (en) * 2012-08-31 2016-03-04 Sanofi-Aventis Deutschland Gmbh Medical device protection assembly in the form of an attachable weight acting as impact-absorbing structure
AU2014248854A1 (en) * 2013-03-13 2015-09-03 Ekso Bionics, Inc. Gait orthotic device and method for protecting gait orthotic device and user from damage
US8933801B2 (en) * 2013-04-19 2015-01-13 Linear Llc Fall detection system and method
US9044859B2 (en) * 2013-10-31 2015-06-02 Disney Enterprises, Inc. Method for gait generation and tracking control for a bipedal walking robot
US9517561B2 (en) 2014-08-25 2016-12-13 Google Inc. Natural pitch and roll
US9895804B1 (en) 2014-08-26 2018-02-20 Boston Dynamics, Inc. Failure mode
JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
NL2014927B1 (en) * 2015-06-05 2017-02-03 Univ Delft Tech Gyroscope for balance assist.
DE112017003480B4 (de) * 2016-07-11 2021-01-21 Groove X, Inc. Autonom handelnder Roboter
CN106681341B (zh) * 2016-12-12 2019-09-10 杭州宇芯机器人科技有限公司 基于多维度工作空间耦合算法的多足机器人步态优化控制方法
KR102449905B1 (ko) * 2018-05-11 2022-10-04 삼성전자주식회사 전자 장치 및 이의 제어 방법
CN108508906B (zh) * 2018-05-23 2020-11-27 哈尔滨理工大学 户外环境下的多足机器人双边触觉遥操作系统及控制方法
JP7417356B2 (ja) * 2019-01-25 2024-01-18 株式会社ソニー・インタラクティブエンタテインメント ロボット制御システム
JP7199259B2 (ja) * 2019-03-12 2023-01-05 本田技研工業株式会社 ロボットの制御装置
CN113858207B (zh) * 2021-10-27 2023-06-09 乐聚(深圳)机器人技术有限公司 人形机器人的倒地控制方法、装置、电子设备及存储介质
US20230211507A1 (en) * 2021-11-12 2023-07-06 Sanctuary Cognitive Systems Corporation Robots and methods for protecting fragile components thereof
CN116985110A (zh) * 2022-07-25 2023-11-03 腾讯科技（深圳）有限公司 控制足式机器人的方法和装置及足式机器人
CN115167464A (zh) * 2022-08-09 2022-10-11 乐聚(深圳)机器人技术有限公司 机器人控制方法、装置、机器人及存储介质
CN120056117B (zh) * 2025-03-14 2025-10-03 北京因时机器人科技有限公司 一种灵巧手保护方法及装置

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KR100529287B1 (ko) * 1998-06-09 2005-11-17 소니 가부시끼 가이샤 로봇 장치 및 그 자세 제어 방법
JP3682525B2 (ja) * 2001-06-07 2005-08-10 独立行政法人科学技術振興機構 二脚歩行式人型ロボット
WO2003057429A1 (en) * 2001-12-28 2003-07-17 Honda Giken Kogyo Kabushiki Kaisha Gait generation device for legged mobile robot
KR100949418B1 (ko) 2002-02-15 2010-03-24 소니 주식회사 보행식 이동 로봇의 다리 장치 및 보행식 이동 로봇의제어 방법
WO2003078109A1 (fr) * 2002-03-15 2003-09-25 Sony Corporation Dispositif de commande operationnelle pour robot mobile du type a jambes, procede de commande operationnelle, et robot
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JP4488811B2 (ja) * 2004-06-30 2010-06-23 川崎重工業株式会社 ロボット制御方法およびロボットシステム
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JP5177502B2 (ja) * 2008-01-07 2013-04-03 本田技研工業株式会社 アクチュエータおよびロボット
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JP5181957B2 (ja) * 2008-09-16 2013-04-10 富士通株式会社 ロボット制御装置、ロボット制御方法およびロボット制御プログラム
US8369991B2 (en) * 2008-12-19 2013-02-05 Honda Motor Co., Ltd. Humanoid fall direction change among multiple objects
US8554370B2 (en) * 2009-05-15 2013-10-08 Honda Motor Co., Ltd Machine learning approach for predicting humanoid robot fall

Also Published As

Publication number Publication date
JP2014508660A (ja) 2014-04-10
US20120245735A1 (en) 2012-09-27
WO2012129259A1 (en) 2012-09-27
US8880221B2 (en) 2014-11-04

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