JP6587785B2 - ロボットの歩行制御方法およびシステム - Google Patents
ロボットの歩行制御方法およびシステム Download PDFInfo
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- JP6587785B2 JP6587785B2 JP2013200358A JP2013200358A JP6587785B2 JP 6587785 B2 JP6587785 B2 JP 6587785B2 JP 2013200358 A JP2013200358 A JP 2013200358A JP 2013200358 A JP2013200358 A JP 2013200358A JP 6587785 B2 JP6587785 B2 JP 6587785B2
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- robot
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- 238000000034 method Methods 0.000 title claims description 24
- 238000006243 chemical reaction Methods 0.000 claims description 22
- 238000005096 rolling process Methods 0.000 claims description 18
- 238000009795 derivation Methods 0.000 claims description 10
- 210000003141 lower extremity Anatomy 0.000 claims description 10
- 239000011159 matrix material Substances 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 4
- 230000017105 transposition Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000000605 extraction Methods 0.000 description 4
- 244000145845 chattering Species 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 210000000744 eyelid Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- 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)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Description
前記仮想反力F_impulseは、比例定数kに三角関数の大きさを示すF_magが掛けられ、これに三角関数の原形であるf(t)が共に反映されて最終的に生成される。
110 地面接触センサー
300 制御部
Claims (8)
- 着用者の足の持ち上げに応じて足裏に力を適用する着用式ロボットの歩行制御方法であって、
ロボットの足裏に設けられた地面接触センサーを用いてロボットが歩行状態かどうかを判断し、歩行方向を判断する判断段階と、
前記地面接触センサーを用いてロボットの足裏の転がり時間を測定する測定段階と、
前記測定された転がり時間を周期とする三角関数を使って、足裏に適用する仮想反力を導出する導出段階と、
導出された仮想反力をヤコビ転置行列に代入してロボット下肢関節の駆動トルクに換算する換算段階とを含む、ロボットの歩行制御方法。 - 前記換算段階は、ロボットの足裏が地面から離れるかどうかをチェックするチェック段階をさらに含むことを特徴とする、請求項1に記載のロボットの歩行制御方法。
- 前記チェック段階は、ロボットの足裏が地面から離れた途端、該当足裏が属する下肢関節に駆動トルクを印加する印加段階をさらに含むことを特徴とする、請求項2に記載のロボットの歩行制御方法。
- 前記判断段階と前記測定段階は、ロボットの足裏の地面接触センサーを用いて歩行かどうかおよび歩行方向を判断し、転がり時間を測定することを特徴とする、請求項1に記載のロボットの歩行制御方法。
- 前記導出段階は、予め設けられた大きさの値を三角関数に掛けて仮想反力を導出することを特徴とする、請求項1に記載のロボットの歩行制御方法。
- 前記導出段階は、ロボットの歩行方向に応じて仮想反力のX軸成分の符号を変更することを特徴とする、請求項1に記載のロボットの歩行制御方法。
- 着用者の足の持ち上げに応じて足裏に力を適用する着用式ロボットの歩行制御システムであって、
ロボットの足裏に設けられた地面接触センサーと、
前記地面接触センサーを用いてロボットの歩行状態、歩行方向および足裏の転がり時間を測定し、測定された転がり時間を周期とする三角関数を使って、足裏に作用する仮想反力を導出し、導出された仮想反力をヤコビ転置行列に代入してロボット下肢関節の駆動トルクに換算する制御部とを含む、ロボットの歩行制御システム。 - 前記地面接触センサーは、ロボットの足裏に隔設された複数のテープセンサーであることを特徴とする、請求項7に記載のロボットの歩行制御システム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020120154476A KR101428328B1 (ko) | 2012-12-27 | 2012-12-27 | 로봇의 보행제어방법 및 시스템 |
KR10-2012-0154476 | 2012-12-27 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2014128870A JP2014128870A (ja) | 2014-07-10 |
JP6587785B2 true JP6587785B2 (ja) | 2019-10-09 |
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JP2013200358A Active JP6587785B2 (ja) | 2012-12-27 | 2013-09-26 | ロボットの歩行制御方法およびシステム |
Country Status (5)
Country | Link |
---|---|
US (2) | US20140188280A1 (ja) |
JP (1) | JP6587785B2 (ja) |
KR (1) | KR101428328B1 (ja) |
CN (1) | CN103895020B (ja) |
DE (1) | DE102013218853B4 (ja) |
Families Citing this family (9)
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KR102172975B1 (ko) * | 2013-12-10 | 2020-11-02 | 삼성전자주식회사 | 착용형 로봇 및 그 제어 방법 |
KR101637643B1 (ko) * | 2014-04-04 | 2016-07-07 | 현대자동차주식회사 | 보행자의 보행 감지 장치 |
KR101712918B1 (ko) * | 2014-08-14 | 2017-03-22 | 국방과학연구소 | 상호작용 힘을 통한 연속보행 인식방법 및 착용형 외골격 로봇 |
US9499219B1 (en) | 2014-08-25 | 2016-11-22 | Google Inc. | Touch-down sensing for robotic devices |
US10189519B2 (en) * | 2015-05-29 | 2019-01-29 | Oregon State University | Leg configuration for spring-mass legged locomotion |
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DE102018213452A1 (de) * | 2018-08-09 | 2020-02-13 | Kuka Deutschland Gmbh | Roboterarm mit wenigstens einem Gelenkmomentsensor |
US11465281B2 (en) * | 2019-10-14 | 2022-10-11 | Boston Dynamics, Inc. | Dynamic planning controller |
CN112407096B (zh) * | 2020-12-15 | 2024-06-11 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | 一种基于差动机构的机器人腿部和四足机器人 |
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2012
- 2012-12-27 KR KR1020120154476A patent/KR101428328B1/ko active IP Right Grant
-
2013
- 2013-03-16 US US13/844,799 patent/US20140188280A1/en not_active Abandoned
- 2013-03-18 US US13/815,977 patent/US8994312B2/en active Active
- 2013-04-28 CN CN201310156007.8A patent/CN103895020B/zh active Active
- 2013-09-19 DE DE102013218853.6A patent/DE102013218853B4/de active Active
- 2013-09-26 JP JP2013200358A patent/JP6587785B2/ja active Active
Also Published As
Publication number | Publication date |
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CN103895020B (zh) | 2017-12-05 |
DE102013218853A1 (de) | 2014-07-03 |
US20140184128A1 (en) | 2014-07-03 |
US20140188280A1 (en) | 2014-07-03 |
CN103895020A (zh) | 2014-07-02 |
US8994312B2 (en) | 2015-03-31 |
KR101428328B1 (ko) | 2014-08-08 |
DE102013218853B4 (de) | 2019-09-19 |
KR20140085702A (ko) | 2014-07-08 |
JP2014128870A (ja) | 2014-07-10 |
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