JP7549340B2 - ロボット - Google Patents

ロボット Download PDF

Info

Publication number
JP7549340B2
JP7549340B2 JP2020212774A JP2020212774A JP7549340B2 JP 7549340 B2 JP7549340 B2 JP 7549340B2 JP 2020212774 A JP2020212774 A JP 2020212774A JP 2020212774 A JP2020212774 A JP 2020212774A JP 7549340 B2 JP7549340 B2 JP 7549340B2
Authority
JP
Japan
Prior art keywords
robot
posture
robot according
joint
wheels
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.)
Active
Application number
JP2020212774A
Other languages
English (en)
Japanese (ja)
Other versions
JP2022099034A (ja
JP2022099034A5 (https=
Inventor
雄希 松尾
高志 佐藤
史朗 佐久間
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tokyo Robotics Inc
Original Assignee
Tokyo Robotics Inc
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 Tokyo Robotics Inc filed Critical Tokyo Robotics Inc
Priority to JP2020212774A priority Critical patent/JP7549340B2/ja
Priority to PCT/JP2021/037870 priority patent/WO2022137746A1/ja
Publication of JP2022099034A publication Critical patent/JP2022099034A/ja
Publication of JP2022099034A5 publication Critical patent/JP2022099034A5/ja
Application granted granted Critical
Publication of JP7549340B2 publication Critical patent/JP7549340B2/ja
Active 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
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • 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
    • B62D57/028—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 having wheels and mechanical legs
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
JP2020212774A 2020-12-22 2020-12-22 ロボット Active JP7549340B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2020212774A JP7549340B2 (ja) 2020-12-22 2020-12-22 ロボット
PCT/JP2021/037870 WO2022137746A1 (ja) 2020-12-22 2021-10-13 ロボット

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2020212774A JP7549340B2 (ja) 2020-12-22 2020-12-22 ロボット

Publications (3)

Publication Number Publication Date
JP2022099034A JP2022099034A (ja) 2022-07-04
JP2022099034A5 JP2022099034A5 (https=) 2023-12-01
JP7549340B2 true JP7549340B2 (ja) 2024-09-11

Family

ID=82158920

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2020212774A Active JP7549340B2 (ja) 2020-12-22 2020-12-22 ロボット

Country Status (2)

Country Link
JP (1) JP7549340B2 (https=)
WO (1) WO2022137746A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12275152B2 (en) * 2021-12-17 2025-04-15 Ubtech Robotics Corp Ltd Robot stability control method, robot and computer-readable storage medium

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024000312A (ja) 2022-06-20 2024-01-05 Ｔｏｐｐａｎホールディングス株式会社 蛍光物質及び消光物質で標識された一本鎖オリゴヌクレオチド
JP7845227B2 (ja) * 2023-02-28 2026-04-14 株式会社豊田中央研究所 運搬台車
CN116142345B (zh) * 2023-03-20 2024-12-31 中国铁路设计集团有限公司 多向高适应性复合关节支撑腿、高空作业机器人及应用
JP2025017182A (ja) * 2023-07-24 2025-02-05 トヨタ自動車株式会社 ロボット駆動装置、ロボット駆動方法及びロボット駆動プログラム
CN117104363B (zh) * 2023-08-04 2026-02-27 北京科技大学 一种张拉整体式驱动机器人
US20260028073A1 (en) * 2024-07-26 2026-01-29 Anish Mampetta Legged Robot with Joint-Augmented Stability Control

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009113135A (ja) 2007-11-05 2009-05-28 Hitachi Ltd ２足型移動機構
JP2009154256A (ja) 2007-12-27 2009-07-16 Yaskawa Electric Corp 車輪付脚式移動装置
WO2020184318A1 (ja) 2019-03-14 2020-09-17 ソニー株式会社 情報処理装置、移動体及び移動体の状態判別方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009113135A (ja) 2007-11-05 2009-05-28 Hitachi Ltd ２足型移動機構
JP2009154256A (ja) 2007-12-27 2009-07-16 Yaskawa Electric Corp 車輪付脚式移動装置
WO2020184318A1 (ja) 2019-03-14 2020-09-17 ソニー株式会社 情報処理装置、移動体及び移動体の状態判別方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12275152B2 (en) * 2021-12-17 2025-04-15 Ubtech Robotics Corp Ltd Robot stability control method, robot and computer-readable storage medium

Also Published As

Publication number Publication date
JP2022099034A (ja) 2022-07-04
WO2022137746A1 (ja) 2022-06-30

Similar Documents

Publication Publication Date Title
JP7549340B2 (ja) ロボット
CN111497965B (zh) 一种轮足切换机器人系统及其控制方法
CN113631324B (zh) 多主体控制器和机器人
Orozco-Magdaleno et al. Evaluation of locomotion performances for a mecanum-wheeled hybrid hexapod robot
US8322468B2 (en) Robot apparatus and method of controlling the same, and computer program
CN106547206B (zh) 一种基于脚力估计算法的多足机器人动态稳定性定量判定方法
US20110160907A1 (en) Control device for robot
JP5322562B2 (ja) 移動台車
JP2014161991A (ja) ロボットの移動機構及びそれを備えるロボット
US20110178636A1 (en) Humanoid robot and walking control method thereof
JPWO2003011535A1 (ja) 脚式移動ロボット及びその動作制御方法
JP2013094935A (ja) ロボットアーム装置
Cordes et al. SherpaTT: A versatile hybrid wheeled-leg rover
Xu et al. Obstacle-negotiation performance on challenging terrain for a parallel leg-wheeled robot
US8442681B2 (en) Desired motion evaluation apparatus of legged mobile robot
Choi et al. Active suspension for a rapid mobile robot using cartesian computed torque control
US20250278097A1 (en) Autonomous Robot Double Drive Assembly
JP4613539B2 (ja) ロボットの動作計画方法
Tazaki Parallel link-based light-weight leg design for bipedal robots
Morales et al. Center of gravity estimation and control for a field mobile robot with a heavy manipulator
CN117389317A (zh) 一种轮式双足机器人的运动控制方法及系统
Moosavian et al. Dynamics modeling and tip-over stability of suspended wheeled mobile robots with multiple arms
Manz et al. Mechanical design of a rover for mobile manipulation in Uneven Terrain in the Context of the SpaceBot Cup
Xu et al. Novel omnidirectional mobile robot with slidable base
CN117055361B (zh) 基于滑模模型预测控制的移动机器人控制方法

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20201222

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20231122

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20231122

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: 20240731

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20240823

R150 Certificate of patent or registration of utility model

Ref document number: 7549340

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150