KR100776849B1 - 레그식 로봇의 제어 장치 - Google Patents
레그식 로봇의 제어 장치 Download PDFInfo
- Publication number
- KR100776849B1 KR100776849B1 KR1020050120153A KR20050120153A KR100776849B1 KR 100776849 B1 KR100776849 B1 KR 100776849B1 KR 1020050120153 A KR1020050120153 A KR 1020050120153A KR 20050120153 A KR20050120153 A KR 20050120153A KR 100776849 B1 KR100776849 B1 KR 100776849B1
- Authority
- KR
- South Korea
- Prior art keywords
- leg
- robot
- arm
- external force
- person
- Prior art date
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Classifications
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- 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
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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
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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
- B25J13/085—Force or torque sensors
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- 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
Abstract
Description
Claims (4)
- 삭제
- 상체에 접속된 레그부와 아암부와, 상기 레그부를 구동하는 레그부 액추에이터와, 상기 아암부를 구동하는 아암부 액추에이터를 구비한 레그식 로봇의 제어 장치에 있어서,a. 상기 아암부에 작용하는 외력을 검출하는 외력 검출 수단과,b. 상기 아암부 액추에이터의 동작을 제어하여 상기 아암부에 악수의 자세를 생성하는 아암부 동작 제어 수단, 및c. 상기 검출된 외력에 기초하여 상기 레그부 액추에이터의 동작을 제어하는 레그부 동작 제어 수단을 구비하는 동시에, 상기 레그부 동작 제어 수단은, 상기 검출된 외력이 소정치를 넘었을 때, 상기 로봇이 상기 외력의 방향과 같은 방향으로 이동하도록 상기 레그부 액추에이터의 동작을 제어하는 것을 특징으로 하는 레그식 로봇의 제어 장치.
- 제2항에 있어서,d. 악수하는 사람의 위치를 인식하는 사람 위치 인식 수단을 더 구비하는 동시에, 상기 아암부 동작 제어 수단은, 상기 인식된 사람의 위치에 기초하여 상기 악수의 자세를 변경하는 것을 특징으로 하는 레그식 로봇의 제어 장치.
- 제2항에 있어서,e. 상기 사람을 식별하는 식별 정보를 기억하여 상기 로봇에 송출하는 식별 정보 송출 수단을 더 구비하는 동시에, 상기 아암부 동작 제어 수단은, 상기 송출된 식별 정보에 기초하여 상기 악수의 자세를 변경하는 것을 특징으로 하는 레그식 로봇의 제어 장치.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004361711A JP4384021B2 (ja) | 2004-12-14 | 2004-12-14 | 脚式ロボットの制御装置 |
JPJP-P-2004-00361711 | 2004-12-14 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020070069462A Division KR100807449B1 (ko) | 2004-12-14 | 2007-07-11 | 레그식 로봇의 제어 장치 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20060067831A KR20060067831A (ko) | 2006-06-20 |
KR100776849B1 true KR100776849B1 (ko) | 2007-11-16 |
Family
ID=35892391
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020050120153A KR100776849B1 (ko) | 2004-12-14 | 2005-12-08 | 레그식 로봇의 제어 장치 |
KR1020070069462A KR100807449B1 (ko) | 2004-12-14 | 2007-07-11 | 레그식 로봇의 제어 장치 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020070069462A KR100807449B1 (ko) | 2004-12-14 | 2007-07-11 | 레그식 로봇의 제어 장치 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7877165B2 (ko) |
EP (1) | EP1671874B1 (ko) |
JP (1) | JP4384021B2 (ko) |
KR (2) | KR100776849B1 (ko) |
CN (1) | CN100421887C (ko) |
HK (1) | HK1089998A1 (ko) |
Families Citing this family (24)
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CN100534732C (zh) * | 2005-12-12 | 2009-09-02 | 本田技研工业株式会社 | 脚式移动机器人的控制装置 |
JP4456560B2 (ja) * | 2005-12-12 | 2010-04-28 | 本田技研工業株式会社 | 脚式移動ロボット制御装置および脚式移動ロボット、並びに、脚式移動ロボット制御方法 |
US8260463B2 (en) * | 2006-02-02 | 2012-09-04 | Kabushiki Kaisha Yaskawa Denki | Robot system |
KR100862190B1 (ko) | 2006-11-30 | 2008-10-09 | 한국전자통신연구원 | 로봇의 자세 검출 장치 및 그 방법 |
TWI338588B (en) * | 2007-07-31 | 2011-03-11 | Ind Tech Res Inst | Method and apparatus for robot behavior series control based on rfid technology |
JP5104355B2 (ja) * | 2008-02-01 | 2012-12-19 | 富士通株式会社 | ロボット制御装置、ロボット制御方法およびロボット制御プログラム |
JP4998506B2 (ja) * | 2009-04-22 | 2012-08-15 | トヨタ自動車株式会社 | ロボット制御装置、ロボット制御方法、及び脚式ロボット |
US8918212B2 (en) | 2009-06-24 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Arm with a combined shape and force sensor |
KR100989441B1 (ko) * | 2010-02-23 | 2010-10-26 | 김영일 | 적응형 퍼지모델을 이용한 태양광 발전 제어 시스템 및 이를 이용한 최대전력 추정방법 |
JP5633166B2 (ja) * | 2010-03-23 | 2014-12-03 | トヨタ自動車株式会社 | ロボット、及びその制御方法 |
US9031697B2 (en) * | 2011-04-15 | 2015-05-12 | Irobot Corporation | Auto-reach method for a remote vehicle |
CN102582714B (zh) * | 2012-01-31 | 2013-08-07 | 山东大学 | 具有负重能力的液压驱动双足机器人下肢机构 |
US9044863B2 (en) | 2013-02-06 | 2015-06-02 | Steelcase Inc. | Polarized enhanced confidentiality in mobile camera applications |
JP6140114B2 (ja) * | 2014-07-31 | 2017-05-31 | ファナック株式会社 | 移動式人協調型ロボット |
JP2016052697A (ja) * | 2014-09-03 | 2016-04-14 | インターマン株式会社 | 人型ロボット |
CN104369192A (zh) * | 2014-11-05 | 2015-02-25 | 深圳市普乐方文化科技有限公司 | 娱乐仿真机器人 |
CN104890756B (zh) * | 2015-06-09 | 2017-04-05 | 江苏科技大学 | 一种三维仿人双足步行机器人的机械结构及行走方法 |
US9669543B1 (en) | 2015-12-11 | 2017-06-06 | Amazon Technologies, Inc. | Validation of robotic item grasping |
JP6514156B2 (ja) * | 2016-08-17 | 2019-05-15 | ファナック株式会社 | ロボット制御装置 |
US11221497B2 (en) | 2017-06-05 | 2022-01-11 | Steelcase Inc. | Multiple-polarization cloaking |
JP6936081B2 (ja) * | 2017-08-30 | 2021-09-15 | パナソニック株式会社 | ロボット |
JP7109207B2 (ja) * | 2018-02-23 | 2022-07-29 | パナソニックホールディングス株式会社 | 相互作用装置、相互作用方法、相互作用プログラム及びロボット |
US11106124B2 (en) | 2018-02-27 | 2021-08-31 | Steelcase Inc. | Multiple-polarization cloaking for projected and writing surface view screens |
US11931898B2 (en) * | 2020-12-22 | 2024-03-19 | Boston Dynamics, Inc. | Arm and body coordination |
Citations (2)
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JP2003117858A (ja) * | 1999-09-20 | 2003-04-23 | Sony Corp | ロボットの歩行制御装置及び歩行制御方法 |
JP2004283975A (ja) * | 2003-03-24 | 2004-10-14 | Advanced Telecommunication Research Institute International | コミュニケーションロボット |
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2004
- 2004-12-14 JP JP2004361711A patent/JP4384021B2/ja not_active Expired - Fee Related
-
2005
- 2005-12-08 KR KR1020050120153A patent/KR100776849B1/ko active IP Right Grant
- 2005-12-09 US US11/297,363 patent/US7877165B2/en not_active Expired - Fee Related
- 2005-12-12 EP EP05027084A patent/EP1671874B1/en not_active Expired - Fee Related
- 2005-12-12 CN CNB2005101301539A patent/CN100421887C/zh not_active Expired - Fee Related
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2006
- 2006-09-20 HK HK06110449.0A patent/HK1089998A1/xx not_active IP Right Cessation
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2007
- 2007-07-11 KR KR1020070069462A patent/KR100807449B1/ko active IP Right Grant
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2003117858A (ja) * | 1999-09-20 | 2003-04-23 | Sony Corp | ロボットの歩行制御装置及び歩行制御方法 |
JP2004283975A (ja) * | 2003-03-24 | 2004-10-14 | Advanced Telecommunication Research Institute International | コミュニケーションロボット |
Also Published As
Publication number | Publication date |
---|---|
JP4384021B2 (ja) | 2009-12-16 |
EP1671874A3 (en) | 2011-01-26 |
US7877165B2 (en) | 2011-01-25 |
KR20060067831A (ko) | 2006-06-20 |
HK1089998A1 (en) | 2006-12-15 |
EP1671874B1 (en) | 2012-02-15 |
US20060129278A1 (en) | 2006-06-15 |
EP1671874A2 (en) | 2006-06-21 |
CN100421887C (zh) | 2008-10-01 |
KR100807449B1 (ko) | 2008-02-25 |
KR20070078102A (ko) | 2007-07-30 |
JP2006167841A (ja) | 2006-06-29 |
CN1788947A (zh) | 2006-06-21 |
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