JPS6297006A - 多関節歩行ロボツト制御装置 - Google Patents

多関節歩行ロボツト制御装置

Info

Publication number
JPS6297006A
JPS6297006A JP60235217A JP23521785A JPS6297006A JP S6297006 A JPS6297006 A JP S6297006A JP 60235217 A JP60235217 A JP 60235217A JP 23521785 A JP23521785 A JP 23521785A JP S6297006 A JPS6297006 A JP S6297006A
Authority
JP
Japan
Prior art keywords
control
walking
pattern data
joint
angle
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
JP60235217A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0562363B2 (enExample
Inventor
Yoshie Kitagawa
北川　淑江
Tomiji Yoshida
吉田　富治
Masanaga Sasaki
佐々木　正祥
Makoto Otsu
誠 大津
Masakatsu Fujie
正克 藤江
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 JP60235217A priority Critical patent/JPS6297006A/ja
Publication of JPS6297006A publication Critical patent/JPS6297006A/ja
Publication of JPH0562363B2 publication Critical patent/JPH0562363B2/ja
Granted legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)
  • Numerical Control (AREA)
JP60235217A 1985-10-23 1985-10-23 多関節歩行ロボツト制御装置 Granted JPS6297006A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP60235217A JPS6297006A (ja) 1985-10-23 1985-10-23 多関節歩行ロボツト制御装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP60235217A JPS6297006A (ja) 1985-10-23 1985-10-23 多関節歩行ロボツト制御装置

Publications (2)

Publication Number Publication Date
JPS6297006A true JPS6297006A (ja) 1987-05-06
JPH0562363B2 JPH0562363B2 (enExample) 1993-09-08

Family

ID=16982813

Family Applications (1)

Application Number Title Priority Date Filing Date
JP60235217A Granted JPS6297006A (ja) 1985-10-23 1985-10-23 多関節歩行ロボツト制御装置

Country Status (1)

Country Link
JP (1) JPS6297006A (enExample)

Cited By (22)

* 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
JPH0248283A (ja) * 1988-08-09 1990-02-19 Agency Of Ind Science & Technol 歩行脚運動軌跡制御装置
JPH02127180A (ja) * 1988-11-07 1990-05-15 Agency Of Ind Science & Technol 歩行機械の歩行脚制御装置
JPH03184782A (ja) * 1989-12-14 1991-08-12 Honda Motor Co Ltd 脚式歩行ロボットの関節構造
US5151859A (en) * 1989-06-29 1992-09-29 Honda Giken Kogyo Kabushiki Kaisha Legged walking robot and system for controlling the same
US5252901A (en) * 1990-11-30 1993-10-12 Honda Giken Kogyo Kabushiki Kaisha System for controlling locomotion of legged walking robot
US5255753A (en) * 1989-12-14 1993-10-26 Honda Giken Kogyo Kabushiki Kaisha Foot structure for legged walking robot
US5311109A (en) * 1992-03-31 1994-05-10 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobile robot
US5337235A (en) * 1992-03-12 1994-08-09 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobiled robot
US5349277A (en) * 1992-03-12 1994-09-20 Honda Giken Kogyo Kabushiki Kaisha Control system for legged mobile robot
US5355064A (en) * 1992-03-04 1994-10-11 Honda Giken Kogyo Kabushiki Kaisha Control system for legged mobile robot
US5402050A (en) * 1992-08-18 1995-03-28 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for mobile robot
US5416393A (en) * 1992-05-20 1995-05-16 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot foot structure
US5432417A (en) * 1992-04-30 1995-07-11 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobile robot
US5455497A (en) * 1992-04-20 1995-10-03 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot and a system for controlling the same
EP0856457A2 (en) 1997-01-31 1998-08-05 Honda Giken Kogyo Kabushiki Kaisha Gait generation system of legged mobile robot
EP1081027A2 (en) 1999-08-30 2001-03-07 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot
US7099743B2 (en) 2002-12-23 2006-08-29 Samsung Electronics Co., Ltd. Two-legged walking robot
CN105151155A (zh) * 2015-09-30 2015-12-16 陈璟东 一种腰部传动机构控制方法
JP2016203330A (ja) * 2015-04-27 2016-12-08 日立Ｇｅニュークリア・エナジー株式会社 自律型筋肉ロボット
CN111409733A (zh) * 2020-04-24 2020-07-14 深圳国信泰富科技有限公司 一种多轴机械腿

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1018467B1 (en) * 1996-07-25 2003-10-22 Honda Giken Kogyo Kabushiki Kaisha Gait generating device for leg type moving robot
WO1998026905A1 (fr) * 1996-12-19 1998-06-25 Honda Giken Kogyo Kabushiki Kaisha Controleur d'attitude de robot mobile sur jambes
DE69840655D1 (de) * 1997-01-31 2009-04-23 Honda Motor Co Ltd Steuerungssystem eines beweglichen Roboters mit Beinen

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS582908A (ja) * 1981-06-29 1983-01-08 Nissan Motor Co Ltd ２腕多軸ロボツトの制御方法
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
JPS582908A (ja) * 1981-06-29 1983-01-08 Nissan Motor Co Ltd ２腕多軸ロボツトの制御方法
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 (25)

* 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
JPH0248283A (ja) * 1988-08-09 1990-02-19 Agency Of Ind Science & Technol 歩行脚運動軌跡制御装置
JPH02127180A (ja) * 1988-11-07 1990-05-15 Agency Of Ind Science & Technol 歩行機械の歩行脚制御装置
US5151859A (en) * 1989-06-29 1992-09-29 Honda Giken Kogyo Kabushiki Kaisha Legged walking robot and system for controlling the same
JPH03184782A (ja) * 1989-12-14 1991-08-12 Honda Motor Co Ltd 脚式歩行ロボットの関節構造
US5159988A (en) * 1989-12-14 1992-11-03 Honda Giken Kogyo Kabushiki Kaisha Articulated structure for legged walking robot
US5255753A (en) * 1989-12-14 1993-10-26 Honda Giken Kogyo Kabushiki Kaisha Foot structure for legged walking robot
US5252901A (en) * 1990-11-30 1993-10-12 Honda Giken Kogyo Kabushiki Kaisha System for controlling locomotion of legged walking robot
US5355064A (en) * 1992-03-04 1994-10-11 Honda Giken Kogyo Kabushiki Kaisha Control system for legged mobile robot
US5349277A (en) * 1992-03-12 1994-09-20 Honda Giken Kogyo Kabushiki Kaisha Control system for legged mobile robot
US5337235A (en) * 1992-03-12 1994-08-09 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobiled robot
US5311109A (en) * 1992-03-31 1994-05-10 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobile robot
US5455497A (en) * 1992-04-20 1995-10-03 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot and a system for controlling the same
US5432417A (en) * 1992-04-30 1995-07-11 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobile robot
US5416393A (en) * 1992-05-20 1995-05-16 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot foot structure
US5402050A (en) * 1992-08-18 1995-03-28 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for mobile robot
EP0856457A2 (en) 1997-01-31 1998-08-05 Honda Giken Kogyo Kabushiki Kaisha Gait generation system of legged mobile robot
US5936367A (en) * 1997-01-31 1999-08-10 Honda Giken Kogyo Kabushiki Kaisha Gait generation system of legged mobile robot
EP1081027A2 (en) 1999-08-30 2001-03-07 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot
US7099743B2 (en) 2002-12-23 2006-08-29 Samsung Electronics Co., Ltd. Two-legged walking robot
JP2016203330A (ja) * 2015-04-27 2016-12-08 日立Ｇｅニュークリア・エナジー株式会社 自律型筋肉ロボット
CN105151155A (zh) * 2015-09-30 2015-12-16 陈璟东 一种腰部传动机构控制方法
CN111409733A (zh) * 2020-04-24 2020-07-14 深圳国信泰富科技有限公司 一种多轴机械腿
CN111409733B (zh) * 2020-04-24 2021-10-08 深圳国信泰富科技有限公司 一种多轴机械腿

Also Published As

Publication number Publication date
JPH0562363B2 (enExample) 1993-09-08

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Legal Events

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