KR100996315B1 - 로봇 시스템 - Google Patents
로봇 시스템 Download PDFInfo
- Publication number
- KR100996315B1 KR100996315B1 KR1020070104006A KR20070104006A KR100996315B1 KR 100996315 B1 KR100996315 B1 KR 100996315B1 KR 1020070104006 A KR1020070104006 A KR 1020070104006A KR 20070104006 A KR20070104006 A KR 20070104006A KR 100996315 B1 KR100996315 B1 KR 100996315B1
- Authority
- KR
- South Korea
- Prior art keywords
- control
- robot
- motor
- center position
- control signal
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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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
- B25J13/02—Hand grip control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
Description
Claims (6)
- 할당된 동작을 지시하는 스위치 조작부, 조작량에 따른 양의 동작을 지시하는 아날로그 조작부, 상기 스위치 조작부 및 아날로그 조작부의 조작에 따른 제어 신호를 출력하는 제어 신호 출력 수단, 및 상기 제어 신호를 송신하는 송신 수단을 구비한 송신기,복수의 관절 및 상기 각 관절을 구동하는 복수의 모터를 구비한 로봇, 및상기 송신기로부터의 제어 신호를 수신하여 출력하는 수신 수단과, 상기 수신수단으로부터의 제어 신호에 응답하여 상기 모터를 구동함으로써 상기 로봇의 관절을 제어하는 제어 수단을 구비하고,상기 제어 수단은 상기 제어 신호에 응답하여 상기 모터에 대해, 상기 스위치 조작부 및 아날로그 조작부가 지시하는 각 동작을 가산하여 구동을 실시하고,상기 아날로그 조작부에 의해 지시하는 동작은 상기 로봇의 자세 제어 동작인 것을 특징으로 하는 로봇 시스템.
- 삭제
- 삭제
- 제 1 항에 있어서,상기 자세 제어 동작은 상기 로봇의 중심 위치를 이동하는 제어 동작인 것을 특징으로 하는 로봇 시스템.
- 제 4 항에 있어서,상기 제어 수단은 상기 중심 위치를 이동시키기 위해 적어도 상기 로봇의 발목 관절과 대퇴 관절을 움직이기 위한 모터를 구동하는 것을 특징으로 하는 로봇 시스템.
- 제 5 항에 있어서,상기 발목 관절과 대퇴 관절을 제어하기 위한 모터로서, 상기 각 관절에 적어도 롤축 제어용 모터 및 피치축 제어용 모터가 설치되어 이루어진 것을 특징으로 하는 로봇 시스템.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2006-00282184 | 2006-10-17 | ||
JP2006282184A JP2008100287A (ja) | 2006-10-17 | 2006-10-17 | ロボットシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20080034795A KR20080034795A (ko) | 2008-04-22 |
KR100996315B1 true KR100996315B1 (ko) | 2010-11-23 |
Family
ID=39435000
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020070104006A KR100996315B1 (ko) | 2006-10-17 | 2007-10-16 | 로봇 시스템 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7705552B2 (ko) |
JP (1) | JP2008100287A (ko) |
KR (1) | KR100996315B1 (ko) |
CN (1) | CN101219540A (ko) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
CN101950176B (zh) * | 2010-09-02 | 2014-12-10 | 北京理工大学 | 一种机器人自主进行zmp标定的方法 |
WO2017042551A1 (en) * | 2015-09-09 | 2017-03-16 | Reach Robotics Limited | Gaming robot |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001287180A (ja) * | 2000-04-04 | 2001-10-16 | Sony Corp | ロボット遠隔制御システム、並びに、ソフトウェア配布方法 |
JP2005111661A (ja) | 2000-11-17 | 2005-04-28 | Honda Motor Co Ltd | 二足歩行ロボットの遠隔操作装置 |
JP2006167868A (ja) | 2004-12-16 | 2006-06-29 | Tokai Univ | 歩行ロボットの関節装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AU2002214310A1 (en) | 2000-11-17 | 2002-05-27 | Honda Giken Kogyo Kabushiki Kaisha | Remote controller of biped robot |
US7221999B2 (en) | 2001-08-29 | 2007-05-22 | Honda Giken Kogyo Kabushiki Kaisha | Remote control device of bipedal mobile robot |
JP3646169B2 (ja) * | 2002-05-07 | 2005-05-11 | 独立行政法人産業技術総合研究所 | 脚式ロボットの歩行制御装置 |
JP2004053530A (ja) * | 2002-07-23 | 2004-02-19 | National Institute Of Advanced Industrial & Technology | 移動体の高精度姿勢検出方法及びその装置 |
JP2006051586A (ja) | 2004-08-13 | 2006-02-23 | Speecys Kk | ロボットコントロールシステム |
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2006
- 2006-10-17 JP JP2006282184A patent/JP2008100287A/ja active Pending
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2007
- 2007-10-16 KR KR1020070104006A patent/KR100996315B1/ko active IP Right Grant
- 2007-10-16 US US11/873,003 patent/US7705552B2/en active Active
- 2007-10-17 CN CNA2007103003868A patent/CN101219540A/zh active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001287180A (ja) * | 2000-04-04 | 2001-10-16 | Sony Corp | ロボット遠隔制御システム、並びに、ソフトウェア配布方法 |
JP2005111661A (ja) | 2000-11-17 | 2005-04-28 | Honda Motor Co Ltd | 二足歩行ロボットの遠隔操作装置 |
JP2006167868A (ja) | 2004-12-16 | 2006-06-29 | Tokai Univ | 歩行ロボットの関節装置 |
Also Published As
Publication number | Publication date |
---|---|
US7705552B2 (en) | 2010-04-27 |
CN101219540A (zh) | 2008-07-16 |
JP2008100287A (ja) | 2008-05-01 |
US20080122394A1 (en) | 2008-05-29 |
KR20080034795A (ko) | 2008-04-22 |
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