JP6823172B2 - 動的バランスを使用する脚ロボットに対する全身マニピュレーション - Google Patents

動的バランスを使用する脚ロボットに対する全身マニピュレーション Download PDF

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Publication number
JP6823172B2
JP6823172B2 JP2019521396A JP2019521396A JP6823172B2 JP 6823172 B2 JP6823172 B2 JP 6823172B2 JP 2019521396 A JP2019521396 A JP 2019521396A JP 2019521396 A JP2019521396 A JP 2019521396A JP 6823172 B2 JP6823172 B2 JP 6823172B2
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Prior art keywords
control system
intermediate body
legs
robot
body section
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Japanese (ja)
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JP2020501918A (ja
Inventor
ブランクスプアー，ケビン
スティーブンス，ベンジャミン
ハドソン，ニコラス
アベ，イェウヒ
バリー，ジェニファー
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
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Publication of JP2020501918A publication Critical patent/JP2020501918A/ja
Priority to JP2021001564A priority Critical patent/JP6979140B2/ja
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Publication of JP6823172B2 publication Critical patent/JP6823172B2/ja
Priority to JP2021184675A priority patent/JP7469282B2/ja
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • 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
    • 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
    • B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
    • 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
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
JP2019521396A 2016-12-13 2017-12-06 動的バランスを使用する脚ロボットに対する全身マニピュレーション Active JP6823172B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2021001564A JP6979140B2 (ja) 2016-12-13 2021-01-07 動的バランスを使用する脚ロボットに対する全身マニピュレーション
JP2021184675A JP7469282B2 (ja) 2016-12-13 2021-11-12 動的バランスを使用する脚ロボットに対する全身マニピュレーション

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15/377,559 2016-12-13
US15/377,559 US10351189B2 (en) 2016-12-13 2016-12-13 Whole body manipulation on a legged robot using dynamic balance
PCT/US2017/064939 WO2018111653A1 (en) 2016-12-13 2017-12-06 Whole body manipulation on a legged robot using dynamic balance

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2021001564A Division JP6979140B2 (ja) 2016-12-13 2021-01-07 動的バランスを使用する脚ロボットに対する全身マニピュレーション

Publications (2)

Publication Number Publication Date
JP2020501918A JP2020501918A (ja) 2020-01-23
JP6823172B2 true JP6823172B2 (ja) 2021-01-27

Family

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Family Applications (3)

Application Number Title Priority Date Filing Date
JP2019521396A Active JP6823172B2 (ja) 2016-12-13 2017-12-06 動的バランスを使用する脚ロボットに対する全身マニピュレーション
JP2021001564A Active JP6979140B2 (ja) 2016-12-13 2021-01-07 動的バランスを使用する脚ロボットに対する全身マニピュレーション
JP2021184675A Active JP7469282B2 (ja) 2016-12-13 2021-11-12 動的バランスを使用する脚ロボットに対する全身マニピュレーション

Family Applications After (2)

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JP2021001564A Active JP6979140B2 (ja) 2016-12-13 2021-01-07 動的バランスを使用する脚ロボットに対する全身マニピュレーション
JP2021184675A Active JP7469282B2 (ja) 2016-12-13 2021-11-12 動的バランスを使用する脚ロボットに対する全身マニピュレーション

Country Status (5)

Country Link
US (4) US10351189B2 (https=)
EP (3) EP3554773B1 (https=)
JP (3) JP6823172B2 (https=)
CN (2) CN114800509B (https=)
WO (1) WO2018111653A1 (https=)

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US12172719B2 (en) 2016-12-13 2024-12-24 Boston Dynamics, Inc. Whole body manipulation on a legged robot using dynamic balance

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CN112847354B (zh) * 2020-12-31 2022-05-17 国网智能科技股份有限公司 变电站足式机器人姿态调整方法、控制器、系统及机器人
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12172719B2 (en) 2016-12-13 2024-12-24 Boston Dynamics, Inc. Whole body manipulation on a legged robot using dynamic balance

Also Published As

Publication number Publication date
EP3554773B1 (en) 2021-06-09
EP3875229B1 (en) 2023-11-22
US20250115315A1 (en) 2025-04-10
CN114800509A (zh) 2022-07-29
EP4296151A3 (en) 2024-08-07
EP4296151A2 (en) 2023-12-27
EP3554773A1 (en) 2019-10-23
JP6979140B2 (ja) 2021-12-08
US12172719B2 (en) 2024-12-24
CN114800509B (zh) 2025-08-05
WO2018111653A1 (en) 2018-06-21
US20180162469A1 (en) 2018-06-14
CN110035872A (zh) 2019-07-19
US20230303193A1 (en) 2023-09-28
US20190283822A1 (en) 2019-09-19
US11667343B2 (en) 2023-06-06
JP7469282B2 (ja) 2024-04-16
JP2021059011A (ja) 2021-04-15
EP3875229A1 (en) 2021-09-08
JP2020501918A (ja) 2020-01-23
JP2022020784A (ja) 2022-02-01
US10351189B2 (en) 2019-07-16
CN110035872B (zh) 2022-05-03

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