JPS62187671A - 足底付き多関節二脚歩行ロボットの歩行安定制御方式 - Google Patents

足底付き多関節二脚歩行ロボットの歩行安定制御方式

Info

Publication number
JPS62187671A
JPS62187671A JP61029947A JP2994786A JPS62187671A JP S62187671 A JPS62187671 A JP S62187671A JP 61029947 A JP61029947 A JP 61029947A JP 2994786 A JP2994786 A JP 2994786A JP S62187671 A JPS62187671 A JP S62187671A
Authority
JP
Japan
Prior art keywords
walking
joint
robot
ground
foot
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.)
Granted
Application number
JP61029947A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0436834B2 (enExample
Inventor
Yoshie Sasaki
淑江 佐々木
Makoto Otsu
誠 大津
Tomiji Yoshida
吉田　富治
Masanaga Sasaki
佐々木　正祥
Ichiro Kato
一郎 加藤
Atsuo Takanishi
淳夫 高西
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.)
Waseda University
Hitachi Ltd
Original Assignee
Waseda University
Hitachi Ltd
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 Waseda University, Hitachi Ltd filed Critical Waseda University
Priority to JP61029947A priority Critical patent/JPS62187671A/ja
Publication of JPS62187671A publication Critical patent/JPS62187671A/ja
Publication of JPH0436834B2 publication Critical patent/JPH0436834B2/ja
Granted legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)
JP61029947A 1986-02-14 1986-02-14 足底付き多関節二脚歩行ロボットの歩行安定制御方式 Granted JPS62187671A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP61029947A JPS62187671A (ja) 1986-02-14 1986-02-14 足底付き多関節二脚歩行ロボットの歩行安定制御方式

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61029947A JPS62187671A (ja) 1986-02-14 1986-02-14 足底付き多関節二脚歩行ロボットの歩行安定制御方式

Publications (2)

Publication Number Publication Date
JPS62187671A true JPS62187671A (ja) 1987-08-17
JPH0436834B2 JPH0436834B2 (enExample) 1992-06-17

Family

ID=12290179

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61029947A Granted JPS62187671A (ja) 1986-02-14 1986-02-14 足底付き多関節二脚歩行ロボットの歩行安定制御方式

Country Status (1)

Country Link
JP (1) JPS62187671A (enExample)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH023580A (ja) * 1988-06-13 1990-01-09 Agency Of Ind Science & Technol 脚移動型歩行機械の制御装置
JPH023581A (ja) * 1988-06-13 1990-01-09 Agency Of Ind Science & Technol 歩行脚制御装置
JPH0332582A (ja) * 1989-06-29 1991-02-13 Honda Motor Co Ltd 脚式移動ロボットの駆動制御装置
US5005658A (en) * 1988-12-22 1991-04-09 Carnegie-Mellon University Orthogonal legged walking robot
US5127484A (en) * 1988-12-22 1992-07-07 Carnegie-Mellon University Orthogonal legged walking robot
JPH071367A (ja) * 1993-06-12 1995-01-06 Yotaro Hatamura 歩行アクチュエータ
WO2004020159A1 (ja) * 2002-08-28 2004-03-11 Honda Giken Kogyo Kabushiki Kaisha 脚式移動ロボット
US7582994B2 (en) * 2007-06-20 2009-09-01 Honda Motor Co., Ltd. Electric actuator
JP2012196743A (ja) * 2011-03-22 2012-10-18 Toyota Motor Corp 脚式ロボット、その制御方法、及び制御プログラム
CN103387017A (zh) * 2013-08-13 2013-11-13 戴文钟 利用连杆模拟人体屈膝动作的机器人膝部结构
CN105620579A (zh) * 2016-02-19 2016-06-01 常州大学 仿人机器人四自由度混联抗冲击机械足

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58132475A (ja) * 1982-01-28 1983-08-06 本田技研工業株式会社 歩行装置
JPS60172478A (ja) * 1984-02-15 1985-09-05 住友電気工業株式会社 移動ロボツトの制御方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58132475A (ja) * 1982-01-28 1983-08-06 本田技研工業株式会社 歩行装置
JPS60172478A (ja) * 1984-02-15 1985-09-05 住友電気工業株式会社 移動ロボツトの制御方法

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH023580A (ja) * 1988-06-13 1990-01-09 Agency Of Ind Science & Technol 脚移動型歩行機械の制御装置
JPH023581A (ja) * 1988-06-13 1990-01-09 Agency Of Ind Science & Technol 歩行脚制御装置
US5005658A (en) * 1988-12-22 1991-04-09 Carnegie-Mellon University Orthogonal legged walking robot
US5127484A (en) * 1988-12-22 1992-07-07 Carnegie-Mellon University Orthogonal legged walking robot
JPH0332582A (ja) * 1989-06-29 1991-02-13 Honda Motor Co Ltd 脚式移動ロボットの駆動制御装置
JPH071367A (ja) * 1993-06-12 1995-01-06 Yotaro Hatamura 歩行アクチュエータ
WO2004020159A1 (ja) * 2002-08-28 2004-03-11 Honda Giken Kogyo Kabushiki Kaisha 脚式移動ロボット
CN100381259C (zh) * 2002-08-28 2008-04-16 本田技研工业株式会社 步行式移动机器人
US7492115B2 (en) 2002-08-28 2009-02-17 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot
US7582994B2 (en) * 2007-06-20 2009-09-01 Honda Motor Co., Ltd. Electric actuator
JP2012196743A (ja) * 2011-03-22 2012-10-18 Toyota Motor Corp 脚式ロボット、その制御方法、及び制御プログラム
CN103387017A (zh) * 2013-08-13 2013-11-13 戴文钟 利用连杆模拟人体屈膝动作的机器人膝部结构
CN105620579A (zh) * 2016-02-19 2016-06-01 常州大学 仿人机器人四自由度混联抗冲击机械足

Also Published As

Publication number Publication date
JPH0436834B2 (enExample) 1992-06-17

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