JP6483730B2 - 自然なピッチとロールを得る方法、ロボットおよびコンピュータ可読媒体 - Google Patents

自然なピッチとロールを得る方法、ロボットおよびコンピュータ可読媒体 Download PDF

Info

Publication number
JP6483730B2
JP6483730B2 JP2016572822A JP2016572822A JP6483730B2 JP 6483730 B2 JP6483730 B2 JP 6483730B2 JP 2016572822 A JP2016572822 A JP 2016572822A JP 2016572822 A JP2016572822 A JP 2016572822A JP 6483730 B2 JP6483730 B2 JP 6483730B2
Authority
JP
Japan
Prior art keywords
robot
posture
joint
robotic device
determining
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.)
Expired - Fee Related
Application number
JP2016572822A
Other languages
English (en)
Japanese (ja)
Other versions
JP2017529246A (ja
Inventor
クリピン，アレックス
アンソニー リッジ，アルフレッド
アンソニー リッジ，アルフレッド
Original Assignee
ボストン ダイナミクス，インコーポレイテッド
ボストン ダイナミクス，インコーポレイテッド
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ボストン ダイナミクス，インコーポレイテッド, ボストン ダイナミクス，インコーポレイテッド filed Critical ボストン ダイナミクス，インコーポレイテッド
Publication of JP2017529246A publication Critical patent/JP2017529246A/ja
Priority to JP2019024085A priority Critical patent/JP6904992B2/ja
Application granted granted Critical
Publication of JP6483730B2 publication Critical patent/JP6483730B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39215—Adaptive control with stabilizing compensation
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39325—External force control, additional loop comparing forces corrects position
    • 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
    • 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
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • 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
    • Y10S901/46—Sensing device

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
JP2016572822A 2014-08-25 2015-08-14 自然なピッチとロールを得る方法、ロボットおよびコンピュータ可読媒体 Expired - Fee Related JP6483730B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2019024085A JP6904992B2 (ja) 2014-08-25 2019-02-14 自然なピッチとロール

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US201462041281P 2014-08-25 2014-08-25
US62/041,281 2014-08-25
US14/586,519 2014-12-30
US14/586,519 US9517561B2 (en) 2014-08-25 2014-12-30 Natural pitch and roll
US14/659,012 2015-03-16
US14/659,012 US9662792B2 (en) 2014-08-25 2015-03-16 Natural pitch and roll
PCT/US2015/045253 WO2016032773A2 (en) 2014-08-25 2015-08-14 Natural pitch and roll

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2019024085A Division JP6904992B2 (ja) 2014-08-25 2019-02-14 自然なピッチとロール

Publications (2)

Publication Number Publication Date
JP2017529246A JP2017529246A (ja) 2017-10-05
JP6483730B2 true JP6483730B2 (ja) 2019-03-13

Family

ID=55347481

Family Applications (4)

Application Number Title Priority Date Filing Date
JP2016572822A Expired - Fee Related JP6483730B2 (ja) 2014-08-25 2015-08-14 自然なピッチとロールを得る方法、ロボットおよびコンピュータ可読媒体
JP2019024085A Active JP6904992B2 (ja) 2014-08-25 2019-02-14 自然なピッチとロール
JP2020204655A Pending JP2021041532A (ja) 2014-08-25 2020-12-10 自然なピッチとロール
JP2021126593A Pending JP2021181156A (ja) 2014-08-25 2021-08-02 自然なピッチとロール

Family Applications After (3)

Application Number Title Priority Date Filing Date
JP2019024085A Active JP6904992B2 (ja) 2014-08-25 2019-02-14 自然なピッチとロール
JP2020204655A Pending JP2021041532A (ja) 2014-08-25 2020-12-10 自然なピッチとロール
JP2021126593A Pending JP2021181156A (ja) 2014-08-25 2021-08-02 自然なピッチとロール

Country Status (5)

Country Link
US (6) US9517561B2 (cg-RX-API-DMAC7.html)
EP (2) EP3498434A1 (cg-RX-API-DMAC7.html)
JP (4) JP6483730B2 (cg-RX-API-DMAC7.html)
CN (2) CN111482960B (cg-RX-API-DMAC7.html)
WO (1) WO2016032773A2 (cg-RX-API-DMAC7.html)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230008096A1 (en) * 2014-08-25 2023-01-12 Boston Dynamics, Inc. Natural pitch and roll

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150168953A1 (en) * 2013-12-13 2015-06-18 Itrack Llc Autonomous self-leveling vehicle
US11093590B2 (en) * 2015-08-31 2021-08-17 Avaya Inc. Selection of robot operation mode from determined compliance with a security criteria
US10493617B1 (en) * 2016-10-21 2019-12-03 X Development Llc Robot control
US10351189B2 (en) * 2016-12-13 2019-07-16 Boston Dynamics, Inc. Whole body manipulation on a legged robot using dynamic balance
US10766140B2 (en) * 2017-04-13 2020-09-08 Battelle Memorial Institute Teach mode collision avoidance system and method for industrial robotic manipulators
WO2019035362A1 (ja) * 2017-08-18 2019-02-21 三菱電機株式会社 ロボット制御装置およびこれを用いたロボットシステム
WO2019123769A1 (ja) * 2017-12-19 2019-06-27 ソニー株式会社 肢ユニット、および、ロボット
US10802508B2 (en) * 2018-02-22 2020-10-13 Boston Dynamics, Inc. Mobile robot
US10800049B2 (en) * 2018-02-22 2020-10-13 Boston Dynamics, Inc. Maneuvering mobile robots
CN108638095A (zh) * 2018-04-02 2018-10-12 深圳小趴智能科技有限公司 一种机器人运动控制装置及其操作方法
US11550335B2 (en) * 2018-11-28 2023-01-10 Ubtech Robotics Corp Ltd Biped robot and its moving method and apparatus
CN111377004B (zh) * 2018-12-28 2021-11-16 深圳市优必选科技有限公司 一种双足机器人步态控制方法以及双足机器人
US11241982B2 (en) * 2019-06-28 2022-02-08 Honda Motor Co., Ltd. Walking infant seat
CN110524561B (zh) * 2019-09-27 2024-03-26 长沙紫宸科技开发有限公司 一种多功能仿人多足机器人
GB2588629B (en) * 2019-10-29 2024-01-03 Cmr Surgical Ltd Robotic joint control
CN111086001B (zh) * 2019-12-25 2021-09-14 广东省智能制造研究所 一种足式机器人多模态感知的状态估计方法及系统
CN111216126B (zh) * 2019-12-27 2021-08-31 广东省智能制造研究所 基于多模态感知的足式机器人运动行为识别方法及系统
CN114260890B (zh) * 2020-08-26 2023-11-03 北京市商汤科技开发有限公司 机器人的状态确定方法及装置、机器人及存储介质
KR20230058652A (ko) * 2020-09-01 2023-05-03 세바 테크놀러지, 인크. 광학 흐름, 휠 인코더 및 관성 측정 유닛을 구비한 평면 로봇 추측 항법
CN112256047B (zh) * 2020-09-30 2023-04-11 江苏集萃智能制造技术研究所有限公司 一种基于四元数的四足姿态控制策略
US12005584B2 (en) * 2020-12-22 2024-06-11 Ubtech Robotics Corp Ltd Pose control method, robot and computer-readable storage medium
CN112874652A (zh) * 2021-02-04 2021-06-01 南方科技大学 可变形态的腿部结构及机器人
JP7156445B1 (ja) 2021-05-18 2022-10-19 三菱電機株式会社 携帯端末、歩行ロボット、プログラム、および位置演算支援方法
CN113997282B (zh) * 2021-10-13 2022-11-25 杭州景业智能科技股份有限公司 机械臂控制方法、装置、电子装置和存储介质
WO2023082013A1 (en) * 2021-11-12 2023-05-19 Sanctuary Cognitive Systems Corporation Robots and methods for protecting fragile components thereof
CN114147703B (zh) * 2021-11-16 2023-11-17 深圳市优必选科技股份有限公司 机器人避障方法、装置、计算机可读存储介质及机器人
CN114911164B (zh) * 2022-05-07 2023-05-02 北京理工大学 一种仿鼠四足机器人跳跃动作的开环控制方法及系统
US20240181637A1 (en) * 2022-07-21 2024-06-06 Carla R. Gillett Autonomous humanoid robot
CN117532597A (zh) * 2022-08-02 2024-02-09 北京小米机器人技术有限公司 机器人的控制方法、装置、电子设备、存储介质及机器人
US12246441B1 (en) * 2022-11-18 2025-03-11 Agility Robotics, Inc. Torso protrusion for robotic manipulation of objects and related technology
WO2024202105A1 (ja) 2023-03-30 2024-10-03 ソニーグループ株式会社 情報処理装置、動作制御方法、及び、移動体
US12403611B2 (en) 2023-04-17 2025-09-02 Figure Ai Inc. Head and neck assembly for a humanoid robot
US12365094B2 (en) 2023-04-17 2025-07-22 Figure Ai Inc. Head and neck assembly for a humanoid robot
IT202300022377A1 (it) * 2023-10-25 2025-04-25 Marco Ceccarelli Gamba robotica per movimento di salto
US12420434B1 (en) 2024-01-04 2025-09-23 Figure Ai Inc. Kinematics of a mechanical end effector

Family Cites Families (137)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB8906541D0 (en) 1989-03-21 1989-05-04 Portsmouth Tech Consult Robot devices
JP2819353B2 (ja) * 1990-09-28 1998-10-30 本田技研工業株式会社 脚式移動ロボットの歩行制御装置
JP2997037B2 (ja) * 1990-11-30 2000-01-11 本田技研工業株式会社 脚式移動ロボットの歩行制御装置
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
DE69725764T2 (de) * 1996-07-25 2004-08-05 Honda Giken Kogyo K.K. Vorrichtung zur nachbildung des ganges für einen zweibeinigen robotor
JP3956414B2 (ja) * 1996-11-19 2007-08-08 ソニー株式会社 ロボット装置及びロボット装置の制御方法
US5929585A (en) * 1996-11-19 1999-07-27 Sony Corporation Robot system and its control method
DE69734835T2 (de) 1996-12-19 2006-07-20 Honda Giken Kogyo K.K. Haltungskontrolleur einen sich auf beinen bewegenden robotern
JP3655056B2 (ja) * 1997-08-04 2005-06-02 本田技研工業株式会社 脚式移動ロボットの制御装置
JP2000236783A (ja) * 1999-02-18 2000-09-05 Mamiya Op Co Ltd 釣 竿
US6594552B1 (en) 1999-04-07 2003-07-15 Intuitive Surgical, Inc. Grip strength with tactile feedback for robotic surgery
JP2001322079A (ja) 2000-05-15 2001-11-20 Sony Corp 脚式移動ロボット及びその動作教示方法
DE60140375D1 (de) * 2000-09-29 2009-12-17 Honda Motor Co Ltd Zweibeiniger roboter
JP3655233B2 (ja) * 2000-11-17 2005-06-02 本田技研工業株式会社 二足ロボットの遠隔操作装置
WO2002045913A1 (en) * 2000-11-20 2002-06-13 Sony Corporation Device and method for controlling operation of legged robot, and robot device
AU2002322504A1 (en) 2001-07-13 2003-01-29 Broks Automation, Inc. Trajectory planning and motion control strategies for a planar three-degree-of-freedom robotic arm
KR100980793B1 (ko) * 2001-11-28 2010-09-10 에볼루션 로보틱스, 인크. 로봇을 위한 하드웨어 추상화 계층에서의 센서 및액추에이터 추상화 및 집단화
EP2305436B1 (en) * 2002-03-18 2015-10-28 Sony Corporation Robot device and movement controlling method for a robot device
JP3568527B2 (ja) * 2002-03-18 2004-09-22 ソニー株式会社 移動体装置
US7664572B2 (en) * 2002-04-26 2010-02-16 Honda Giken Kogyo Kabushiki Kaisha Control device of legged mobile robot
JP3646169B2 (ja) * 2002-05-07 2005-05-11 独立行政法人産業技術総合研究所 脚式ロボットの歩行制御装置
US20040064195A1 (en) * 2002-07-15 2004-04-01 Hugh Herr Variable-mechanical-impedance artificial legs
US7805218B2 (en) * 2002-10-01 2010-09-28 Sony Corporation Robot device and control method of robot device
JP3599244B2 (ja) * 2002-11-06 2004-12-08 ソニー株式会社 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
US7295892B2 (en) * 2002-12-31 2007-11-13 Massachusetts Institute Of Technology Speed-adaptive control scheme for legged running robots
JP2004298975A (ja) 2003-03-28 2004-10-28 Sony Corp ロボット装置、障害物探索方法
SE0301531L (sv) 2003-05-22 2004-11-23 Abb Ab A Control method for a robot
US7603234B2 (en) 2003-06-27 2009-10-13 Honda Motor Co., Ltd. Controller of legged mobile robot
JP4587738B2 (ja) 2003-08-25 2010-11-24 ソニー株式会社 ロボット装置及びロボットの姿勢制御方法
US8075633B2 (en) * 2003-09-25 2011-12-13 Massachusetts Institute Of Technology Active ankle foot orthosis
US7603199B2 (en) * 2003-11-27 2009-10-13 Honda Motor Co., Ltd. Control device for mobile body
EP1721711B1 (en) 2004-02-06 2011-12-07 Honda Motor Co., Ltd. Gait generator of mobile robot
US7319302B2 (en) 2004-02-16 2008-01-15 Honda Motor Co., Ltd. Gate generating system for mobile robot
JP4503311B2 (ja) * 2004-02-25 2010-07-14 本田技研工業株式会社 脚体運動補助装具の発生トルク制御方法
WO2005098733A2 (en) * 2004-03-31 2005-10-20 Honda Motor Co., Ltd. Systems and methods for controlling a legged robot based on rate of change of angular momentum
JP4559803B2 (ja) * 2004-09-14 2010-10-13 敏男 福田 関節角の受動変化を利用して歩行するロボットとその制御方法
JP4548135B2 (ja) * 2005-02-03 2010-09-22 トヨタ自動車株式会社 脚式ロボットとその制御方法
US7835822B2 (en) * 2005-03-30 2010-11-16 Honda Motor Co., Ltd. Systems and methods for controlling a legged robot using a two-phase disturbance response strategy
US10307272B2 (en) * 2005-03-31 2019-06-04 Massachusetts Institute Of Technology Method for using a model-based controller for a robotic leg
US8864846B2 (en) * 2005-03-31 2014-10-21 Massachusetts Institute Of Technology Model-based neuromechanical controller for a robotic leg
US10080672B2 (en) * 2005-03-31 2018-09-25 Bionx Medical Technologies, Inc. Hybrid terrain-adaptive lower-extremity systems
US8512415B2 (en) * 2005-03-31 2013-08-20 Massachusetts Institute Of Technology Powered ankle-foot prothesis
US11278433B2 (en) * 2005-03-31 2022-03-22 Massachusetts Institute Of Technology Powered ankle-foot prosthesis
US8500823B2 (en) * 2005-03-31 2013-08-06 Massachusetts Institute Of Technology Powered artificial knee with agonist-antagonist actuation
US20070043449A1 (en) * 2005-03-31 2007-02-22 Massachusetts Institute Of Technology Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components
US20070162152A1 (en) * 2005-03-31 2007-07-12 Massachusetts Institute Of Technology Artificial joints using agonist-antagonist actuators
US20070123997A1 (en) * 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
US20060249315A1 (en) * 2005-03-31 2006-11-09 Massachusetts Institute Of Technology Artificial human limbs and joints employing actuators, springs, and variable-damper elements
US20070059124A1 (en) * 2005-08-25 2007-03-15 Palo Alto Research Center Incorporated Portable personal wearable active third arm
JP4995458B2 (ja) * 2005-12-12 2012-08-08 本田技研工業株式会社 脚式移動ロボット
JP4641252B2 (ja) * 2005-12-12 2011-03-02 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
US20070173973A1 (en) * 2006-01-24 2007-07-26 Wagner Richard J Sticky-footed space walking robot & gaiting method
JP4692443B2 (ja) * 2006-09-06 2011-06-01 トヨタ自動車株式会社 脚式ロボット
US8083013B2 (en) * 2006-12-06 2011-12-27 The Regents Of The University Of California Multimodal agile robots
JP2008150527A (ja) 2006-12-19 2008-07-03 Mitsubishi Paper Mills Ltd スクラッチ発色用インキおよび不可視情報印刷シート
JP4143103B2 (ja) * 2006-12-20 2008-09-03 本田技研工業株式会社 移動装置、ならびにその制御システム、制御プログラムおよび監督システム
JP4679527B2 (ja) * 2007-01-25 2011-04-27 大成建設株式会社 ２足歩行ロボット
WO2008154228A1 (en) * 2007-06-08 2008-12-18 Honda Motor Co., Ltd. Multi-modal push planner for humanoid robots
US8271138B2 (en) 2007-09-12 2012-09-18 Intelligent Hospital Systems Ltd. Gripper device
JP5187552B2 (ja) 2007-09-13 2013-04-24 ソニー株式会社 制御装置および方法、プログラム並びに記録媒体
JP4466715B2 (ja) * 2007-10-25 2010-05-26 トヨタ自動車株式会社 脚式ロボット、及びその制御方法
JP4839487B2 (ja) * 2007-12-04 2011-12-21 本田技研工業株式会社 ロボット及びタスク実行システム
JP5071140B2 (ja) * 2008-02-14 2012-11-14 トヨタ自動車株式会社 脚式ロボット、及びその制御方法
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
JP2011523903A (ja) * 2008-05-21 2011-08-25 ジョージア テック リサーチ コーポレイション 力バランス移動ロボットシステム
JP2009285816A (ja) * 2008-05-30 2009-12-10 Toyota Motor Corp 脚式ロボット及びその制御方法
US8242730B2 (en) 2008-06-10 2012-08-14 Nichols Michael J Automated robot teach tool and method of use
US20110082566A1 (en) * 2008-09-04 2011-04-07 Herr Hugh M Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis
CA2736079A1 (en) * 2008-09-04 2010-03-11 Iwalk, Inc. Hybrid terrain-adaptive lower-extremity systems
US8041456B1 (en) * 2008-10-22 2011-10-18 Anybots, Inc. Self-balancing robot including an ultracapacitor power source
US8160747B1 (en) * 2008-10-24 2012-04-17 Anybots, Inc. Remotely controlled self-balancing robot including kinematic image stabilization
US8442661B1 (en) * 2008-11-25 2013-05-14 Anybots 2.0, Inc. Remotely controlled self-balancing robot including a stabilized laser pointer
US8332068B2 (en) * 2008-12-19 2012-12-11 Honda Motor Co., Ltd. Intelligent stepping for humanoid fall direction change
KR20100073438A (ko) * 2008-12-23 2010-07-01 삼성전자주식회사 로봇 및 그 제어방법
DE102009040145A1 (de) 2009-09-04 2011-03-10 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Stillsetzen eines Manipulators
US8924015B2 (en) 2009-09-14 2014-12-30 Honda Motor Co., Ltd. Whole-body humanoid control from upper-body task specifications
JP5232124B2 (ja) * 2009-10-28 2013-07-10 本田技研工業株式会社 脚式移動ロボットの制御装置
JP5284923B2 (ja) * 2009-10-28 2013-09-11 本田技研工業株式会社 脚式移動ロボットの制御装置
KR101667032B1 (ko) * 2009-10-30 2016-10-17 삼성전자 주식회사 로봇의 경로 계획 장치 및 그 방법
KR101075026B1 (ko) 2009-12-02 2011-10-20 한국생산기술연구원 로봇 하드웨어 설계지원 시스템 및 그의 방법
WO2011106543A1 (en) * 2010-02-25 2011-09-01 Honda Motor Co., Ltd. A momentum-based balance controller for humanoid robots on non-level and non-stationary ground
US8457830B2 (en) * 2010-03-22 2013-06-04 John R. Goulding In-line legged robot vehicle and method for operating
EP2555716A2 (en) * 2010-04-05 2013-02-13 Iwalk, Inc. Controlling torque in a prosthesis or orthosis
JP5468974B2 (ja) * 2010-04-22 2014-04-09 本田技研工業株式会社 ２足移動ロボットの制御装置及び歩容生成装置
US9120512B2 (en) * 2010-04-22 2015-09-01 Honda Motor Co., Ltd. Control device and gait generating device for bipedal mobile robot
JP5456588B2 (ja) * 2010-06-07 2014-04-02 本田技研工業株式会社 脚式移動ロボットの制御装置
JP5685842B2 (ja) 2010-07-12 2015-03-18 セイコーエプソン株式会社 ロボット装置およびロボット装置の制御方法
US8418705B2 (en) * 2010-07-30 2013-04-16 Toyota Motor Engineering & Manufacturing North America, Inc. Robotic cane devices
KR101778027B1 (ko) * 2010-12-21 2017-09-13 삼성전자주식회사 보행 로봇 및 그 자세 제어 방법
EP2663267B1 (en) * 2011-01-10 2019-07-31 Iwalk, Inc. Powered joint orthosis
EP2663904A2 (en) * 2011-01-12 2013-11-20 Iwalk, Inc. Controlling powered human augmentation devices
WO2012100250A1 (en) * 2011-01-21 2012-07-26 Iwalk, Inc. Terrain adaptive powered joint orthosis
US9060883B2 (en) * 2011-03-11 2015-06-23 Iwalk, Inc. Biomimetic joint actuators
JP5845334B2 (ja) * 2011-03-21 2016-01-20 本田技研工業株式会社 ロボット制御方法および記憶媒体
US8880221B2 (en) * 2011-03-21 2014-11-04 Honda Motor Co., Ltd. Damage reduction control for humanoid robot fall
US8639386B2 (en) 2011-05-20 2014-01-28 Harris Corporation Haptic device for manipulator and vehicle control
US8504208B2 (en) * 2011-05-25 2013-08-06 Honda Motor Co., Ltd. Mobile object controller and floor surface estimator
JP5616290B2 (ja) * 2011-05-25 2014-10-29 本田技研工業株式会社 移動体の制御装置
US20120316682A1 (en) * 2011-06-10 2012-12-13 Samsung Electronics Co., Ltd. Balance control apparatus of robot and control method thereof
JP5991857B2 (ja) * 2011-06-10 2016-09-14 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． ロボットの均衡制御装置及びその制御方法
JP5930892B2 (ja) * 2011-09-07 2016-06-08 本田技研工業株式会社 接触状態推定装置及び軌道生成装置
KR20130034082A (ko) * 2011-09-28 2013-04-05 삼성전자주식회사 로봇 및 그 제어 방법
US9737419B2 (en) * 2011-11-02 2017-08-22 Bionx Medical Technologies, Inc. Biomimetic transfemoral prosthesis
US8805584B2 (en) * 2011-11-22 2014-08-12 Disney Enterprises, Inc Kinematic and dynamic calibration methods for legged robots with force-controlled joints
KR20130063230A (ko) * 2011-12-06 2013-06-14 삼성전자주식회사 보행 로봇 및 그 제어 방법
US9032635B2 (en) * 2011-12-15 2015-05-19 Massachusetts Institute Of Technology Physiological measurement device or wearable device interface simulator and method of use
US9014857B2 (en) 2012-01-13 2015-04-21 Toyota Motor Engineering & Manufacturing North America, Inc. Methods and computer-program products for generating grasp patterns for use by a robot
KR101985790B1 (ko) * 2012-02-21 2019-06-04 삼성전자주식회사 보행 로봇 및 그 제어 방법
US9221177B2 (en) 2012-04-18 2015-12-29 Massachusetts Institute Of Technology Neuromuscular model-based sensing and control paradigm for a robotic leg
WO2013188510A2 (en) * 2012-06-12 2013-12-19 Iwalk, Inc. Prosthetic, orthotic or exoskeleton device
JP2014100767A (ja) * 2012-11-20 2014-06-05 Toshiba Corp 多脚歩行ロボットの段差歩行制御装置及び方法
KR101438970B1 (ko) * 2012-12-27 2014-09-15 현대자동차주식회사 로봇의 보행제어방법
US9031691B2 (en) 2013-03-04 2015-05-12 Disney Enterprises, Inc. Systemic derivation of simplified dynamics for humanoid robots
US9649765B2 (en) 2013-03-11 2017-05-16 Siemens Aktiengesellschaft Reducing energy consumption of industrial robots by using new methods for motion path programming
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
CN203776522U (zh) * 2014-03-04 2014-08-20 王庆丰 一种可调整姿势的人体模型
US9283949B2 (en) * 2014-07-22 2016-03-15 Google Inc. Hybrid hydraulic and electrically actuated mobile robot
US9395726B1 (en) * 2014-07-24 2016-07-19 Google Inc. Methods and devices for bound and gallop gaits
US9517561B2 (en) * 2014-08-25 2016-12-13 Google Inc. Natural pitch and roll
US10081098B1 (en) * 2014-08-25 2018-09-25 Boston Dynamics, Inc. Generalized coordinate surrogates for integrated estimation and control
US9895804B1 (en) * 2014-08-26 2018-02-20 Boston Dynamics, Inc. Failure mode
JP6339467B2 (ja) * 2014-09-29 2018-06-06 本田技研工業株式会社 移動ロボットの制御装置
JP6356033B2 (ja) * 2014-09-29 2018-07-11 本田技研工業株式会社 移動体の制御装置
CN104376309B (zh) * 2014-11-27 2018-12-25 韩慧健 一种基于手势识别的手势运动基元模型结构化方法
US9440353B1 (en) * 2014-12-29 2016-09-13 Google Inc. Offline determination of robot behavior
US9789920B2 (en) * 2015-04-01 2017-10-17 Oregon State University Apparatus and method for energy regulation and leg control for spring-mass walking machine
WO2017042551A1 (en) * 2015-09-09 2017-03-16 Reach Robotics Limited Gaming robot
US9586316B1 (en) * 2015-09-15 2017-03-07 Google Inc. Determination of robotic step path
KR101965071B1 (ko) * 2017-10-25 2019-04-02 정승환 추진력을 이용한 로봇 동작구현장치
KR20170138977A (ko) * 2017-12-06 2017-12-18 삼성전자주식회사 보행 로봇 및 그의 위치 인식과 지도 작성을 동시에 수행하는 방법
US11548151B2 (en) * 2019-04-12 2023-01-10 Boston Dynamics, Inc. Robotically negotiating stairs
US11803241B2 (en) * 2019-06-21 2023-10-31 Rehabilitation Institute Of Chicago Wearable joint tracking device with muscle activity and methods thereof
CN114474034B (zh) * 2020-10-26 2024-05-28 腾讯科技（深圳）有限公司 足式机器人运动控制方法、装置、设备及介质
CN112731953B (zh) * 2020-12-24 2024-07-19 深圳市优必选科技股份有限公司 机器人控制方法、装置、计算机可读存储介质及机器人
US11833680B2 (en) * 2021-06-25 2023-12-05 Boston Dynamics, Inc. Robot movement and online trajectory optimization
US12168300B2 (en) * 2021-10-18 2024-12-17 Boston Dynamics, Inc. Nonlinear trajectory optimization for robotic devices

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230008096A1 (en) * 2014-08-25 2023-01-12 Boston Dynamics, Inc. Natural pitch and roll
US11911916B2 (en) * 2014-08-25 2024-02-27 Boston Dynamics, Inc. Natural pitch and roll

Also Published As

Publication number Publication date
CN106660206A (zh) 2017-05-10
CN111482960A (zh) 2020-08-04
US20190022868A1 (en) 2019-01-24
WO2016032773A2 (en) 2016-03-03
US10105850B2 (en) 2018-10-23
EP3186041A2 (en) 2017-07-05
US11911916B2 (en) 2024-02-27
EP3186041B1 (en) 2019-04-03
US20230008096A1 (en) 2023-01-12
US20160052574A1 (en) 2016-02-25
JP6904992B2 (ja) 2021-07-21
US9517561B2 (en) 2016-12-13
JP2017529246A (ja) 2017-10-05
US9662792B2 (en) 2017-05-30
EP3498434A1 (en) 2019-06-19
JP2019089200A (ja) 2019-06-13
CN111482960B (zh) 2023-07-11
JP2021041532A (ja) 2021-03-18
US20200254621A1 (en) 2020-08-13
US10654168B2 (en) 2020-05-19
US11426875B2 (en) 2022-08-30
WO2016032773A3 (en) 2016-07-28
JP2021181156A (ja) 2021-11-25
US20160052136A1 (en) 2016-02-25
US20170225333A1 (en) 2017-08-10
CN106660206B (zh) 2020-04-10

Similar Documents

Publication Publication Date Title
JP6483730B2 (ja) 自然なピッチとロールを得る方法、ロボットおよびコンピュータ可読媒体
US11851120B2 (en) Control of robotic devices with non-constant body pitch
US12384038B2 (en) Generalized coordinate surrogates for integrated estimation and control
US11865715B2 (en) Offline optimization to robot behavior
US12194629B2 (en) Robot movement and online trajectory optimization
US11319005B2 (en) Achieving a target gait behavior in a legged robot
CN115446844B (zh) 机器人的控制方法、机器人及控制终端
US20250196333A1 (en) Robotic manipulation of objects

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20170207

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180316

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180522

A711 Notification of change in applicant

Free format text: JAPANESE INTERMEDIATE CODE: A711

Effective date: 20180522

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180817

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20180817

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20190115

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20190214

R150 Certificate of patent or registration of utility model

Ref document number: 6483730

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees