MX2016015824A - Robot humanoide con capacidad para recuperar la trayectoria y evitar colisiones. - Google Patents

Robot humanoide con capacidad para recuperar la trayectoria y evitar colisiones.

Info

Publication number
MX2016015824A
MX2016015824A MX2016015824A MX2016015824A MX2016015824A MX 2016015824 A MX2016015824 A MX 2016015824A MX 2016015824 A MX2016015824 A MX 2016015824A MX 2016015824 A MX2016015824 A MX 2016015824A MX 2016015824 A MX2016015824 A MX 2016015824A
Authority
MX
Mexico
Prior art keywords
robot
trajectory
obstacle
speed
humanoid robot
Prior art date
Application number
MX2016015824A
Other languages
English (en)
Inventor
Collette Cyrille
DALIBARD Sebastien
Garcia Aldenis
Garcia Nicolas
Souchet Lucas
Original Assignee
Softbank Robotics Europe
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 Softbank Robotics Europe filed Critical Softbank Robotics Europe
Publication of MX2016015824A publication Critical patent/MX2016015824A/es

Links

Classifications

    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/003—Manipulators for entertainment
    • B25J11/0035—Dancing, executing a choreography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39091—Avoid collision with moving obstacles
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

La invención hace referencia a un robot humanoide que puede mover su miembro inferior para ejecutar una trayectoria. Conforme a la invención, el robot es capaz de detectar la intrusión de obstáculos en una zona segura definida alrededor de su cuerpo como una función de su velocidad. Preferiblemente cuando el robot ejecuta una trayectoria predefinida, por ejemplo, una parte de una coreografía, el robot que evita la colisión con un obstáculo se reincorporará a su trayectoria original tras evitar el obstáculo. La reincorporación a la trayectoria y la velocidad del robot se adaptan de modo que se vuelve a sincronizar con la trayectoria inicial. De forma ventajosa, la velocidad de las juntas de los miembros superiores del robot se adapta en caso de que la distancia con un obstáculo disminuya por debajo de un mínimo preestablecido. Asimismo, las juntas se detienen en caso de que se prediga una colisión de los miembros superiores con el obstáculo.
MX2016015824A 2014-06-05 2015-06-05 Robot humanoide con capacidad para recuperar la trayectoria y evitar colisiones. MX2016015824A (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14305850.1A EP2952301B1 (en) 2014-06-05 2014-06-05 Humanoid robot with collision avoidance and trajectory recovery capabilities
PCT/EP2015/062603 WO2015185738A2 (en) 2014-06-05 2015-06-05 Humanoid robot with collision avoidance and trajectory recovery capabilities

Publications (1)

Publication Number Publication Date
MX2016015824A true MX2016015824A (es) 2017-10-04

Family

ID=51022794

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016015824A MX2016015824A (es) 2014-06-05 2015-06-05 Robot humanoide con capacidad para recuperar la trayectoria y evitar colisiones.

Country Status (14)

Country Link
US (1) US10179406B2 (es)
EP (1) EP2952301B1 (es)
JP (1) JP6567563B2 (es)
KR (1) KR101986919B1 (es)
CN (1) CN106573377B (es)
AU (1) AU2015270458B2 (es)
BR (1) BR112016028357A2 (es)
CA (1) CA2950979C (es)
ES (1) ES2773136T3 (es)
MX (1) MX2016015824A (es)
NZ (1) NZ728053A (es)
RU (1) RU2016152159A (es)
SG (1) SG11201609651QA (es)
WO (1) WO2015185738A2 (es)

Families Citing this family (53)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP1580536S (es) * 2016-01-29 2017-07-03
WO2017197170A1 (en) * 2016-05-12 2017-11-16 The Regents Of The University Of California Safely controlling an autonomous entity in presence of intelligent agents
US10203714B2 (en) * 2016-09-29 2019-02-12 Enel X North America, Inc. Brown out prediction system including automated validation, estimation, and editing rules configuration engine
US10423186B2 (en) 2016-09-29 2019-09-24 Enel X North America, Inc. Building control system including automated validation, estimation, and editing rules configuration engine
US10170910B2 (en) * 2016-09-29 2019-01-01 Enel X North America, Inc. Energy baselining system including automated validation, estimation, and editing rules configuration engine
US10291022B2 (en) 2016-09-29 2019-05-14 Enel X North America, Inc. Apparatus and method for automated configuration of estimation rules in a network operations center
US10461533B2 (en) 2016-09-29 2019-10-29 Enel X North America, Inc. Apparatus and method for automated validation, estimation, and editing configuration
US10298012B2 (en) 2016-09-29 2019-05-21 Enel X North America, Inc. Network operations center including automated validation, estimation, and editing configuration engine
US10566791B2 (en) 2016-09-29 2020-02-18 Enel X North America, Inc. Automated validation, estimation, and editing processor
CN107272735A (zh) * 2017-06-16 2017-10-20 深圳市可飞科技有限公司 移动平台自动规避碰撞的方法、系统及移动平台
WO2019010612A1 (zh) * 2017-07-10 2019-01-17 深圳市艾唯尔科技有限公司 一种传感融合技术的机器人关节防撞保护系统及其方法
WO2019097676A1 (ja) * 2017-11-17 2019-05-23 三菱電機株式会社 ３次元空間監視装置、３次元空間監視方法、及び３次元空間監視プログラム
CN108521809A (zh) * 2017-12-18 2018-09-11 深圳市大疆创新科技有限公司 障碍物信息提示方法、系统、设备、装置及记录介质
US11571815B2 (en) 2017-12-21 2023-02-07 Magna International Inc. Safety control module for a robot assembly and method of same
KR102109004B1 (ko) * 2018-01-10 2020-05-11 부산대학교 산학협력단 라인 정보를 이용한 모바일 로봇의 장애물 회피를 위한 장치 및 방법
JP7058126B2 (ja) * 2018-01-12 2022-04-21 株式会社日立製作所 ロボット制御装置および自動組立システム
WO2019148467A1 (zh) 2018-02-02 2019-08-08 深圳前海达闼云端智能科技有限公司 定位方法、装置、机器人及计算机可读存储介质
CN108445878B (zh) * 2018-02-28 2022-04-01 北京奇虎科技有限公司 一种用于扫地机器人的障碍物处理方法和扫地机器人
EP3774197B1 (en) * 2018-03-28 2024-01-24 BAE SYSTEMS plc Collaborative robot system
US10899006B2 (en) * 2018-05-01 2021-01-26 X Development Llc Robot navigation using 2D and 3D path planning
KR20210066791A (ko) 2018-07-16 2021-06-07 브레인 코퍼레이션 로봇식 장치의 타이트 턴을 위한 경로 계획을 최적화하는 시스템 및 방법
JP6823015B2 (ja) 2018-07-17 2021-01-27 ファナック株式会社 ロボットシステム
USD894248S1 (en) * 2018-08-31 2020-08-25 Roborus Co., Ltd. Robot
CN109048917B (zh) * 2018-09-12 2021-06-29 南方电网电力科技股份有限公司 机器人自动控制方法、装置、设备及计算机可读存储介质
US11597084B2 (en) * 2018-09-13 2023-03-07 The Charles Stark Draper Laboratory, Inc. Controlling robot torque and velocity based on context
JP6997068B2 (ja) * 2018-12-19 2022-01-17 ファナック株式会社 ロボット制御装置、ロボット制御システム、及びロボット制御方法
US11338438B2 (en) * 2019-01-25 2022-05-24 Bear Robotics, Inc. Method, system and non-transitory computer-readable recording medium for determining a movement path of a robot
CN109855641B (zh) * 2019-02-20 2021-06-11 百度在线网络技术（北京）有限公司 预测运动轨迹的方法、装置、存储介质和终端设备
USD890240S1 (en) * 2019-03-15 2020-07-14 Misty Robotics, Inc. Head for a robotic device
DE102019206012A1 (de) * 2019-04-26 2020-10-29 Kuka Deutschland Gmbh Verfahren und System zum Betreiben eines Roboters
WO2020247622A1 (en) * 2019-06-05 2020-12-10 Beyond Imagination Inc. Mobility surrogates
CN112346445A (zh) * 2019-08-07 2021-02-09 坎德拉（深圳）科技创新有限公司 一种配送机器人及其避障方法、计算机存储介质
EP3797937A1 (de) * 2019-09-27 2021-03-31 Siemens Aktiengesellschaft Anhalten einer produktionsmaschine auf kollisionsfreier bahn
US11691292B2 (en) * 2019-10-14 2023-07-04 Boston Dynamics, Inc. Robot choreographer
KR20210045022A (ko) * 2019-10-16 2021-04-26 네이버 주식회사 인식된 사람과 연관된 개인 영역에 기반하여 로봇을 제어하는 방법 및 시스템
WO2021101514A1 (en) * 2019-11-19 2021-05-27 Google Llc Optimization of motion paths of a robot using vision data
EP3838504A1 (de) * 2019-12-19 2021-06-23 FRONIUS INTERNATIONAL GmbH Verfahren und vorrichtung zur überwachung eines bearbeitungsprozesses und bearbeitungsmaschine mit einer solchen vorrichtung
CN110936383B (zh) * 2019-12-20 2022-11-18 上海有个机器人有限公司 一种机器人的障碍物避让方法、介质、终端和装置
CN112247993B (zh) * 2020-04-15 2022-02-18 牧今科技 具有碰撞避免机制的机器人系统及其操作方法
CN112207827B (zh) * 2020-09-29 2022-07-12 北京云迹科技股份有限公司 机器人安全移动的控制方法、装置及电子设备
EP4257301A4 (en) * 2020-11-12 2024-08-21 Yujin Robot Co Ltd FUNCTIONAL SAFETY SYSTEM FOR ROBOTS
KR102625700B1 (ko) * 2020-11-12 2024-01-16 주식회사 유진로봇 이동 로봇의 센서 이중화 장치 및 방법
CN112783158A (zh) * 2020-12-28 2021-05-11 广州辰创科技发展有限公司 多种无线传感识别技术融合方法、设备及存储介质
WO2022140969A1 (zh) * 2020-12-28 2022-07-07 深圳市优必选科技股份有限公司 动态生成脚印集方法、存储介质及双足机器人
CN113246126B (zh) * 2021-04-30 2023-02-03 上海擎朗智能科技有限公司 机器人移动控制方法、机器人移动控制装置及机器人
US11960288B1 (en) * 2021-09-08 2024-04-16 Amazon Technologies, Inc. System for path planning in areas outside of sensor field of view by an autonomous mobile device
US20230123463A1 (en) * 2021-10-15 2023-04-20 Fanuc Corporation Method of robotic system dynamic velocity modification
KR102707348B1 (ko) * 2021-10-20 2024-09-19 네이버 주식회사 로봇 친화형 건물, 건물을 주행하는 로봇 제어 방법 및 시스템
CN114347024B (zh) * 2021-12-31 2024-08-16 深圳市普渡科技有限公司 机器人速度的调整方法、装置、机器人和存储介质
KR20240079281A (ko) * 2022-11-28 2024-06-05 엘지전자 주식회사 복수개의 로봇과 통신 가능한 클라우드 서버의 제어 방법
CN116400709B (zh) * 2023-05-06 2023-10-31 河南牧业经济学院 机器人轨迹确定方法、装置、机器人及存储介质
CN116909284B (zh) * 2023-07-27 2024-07-26 苏州光格科技股份有限公司 足式机器人避障控制方法、装置、计算机设备和存储介质
CN116728437B (zh) * 2023-08-08 2023-10-13 江苏集萃智能制造技术研究所有限公司 基于欧氏空间距离的康养机器人轨迹采样滤波方法及系统

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05297944A (ja) * 1992-04-24 1993-11-12 Fujitsu Ltd 移動ロボットの障害物回避方式
JP2003187399A (ja) * 2001-12-13 2003-07-04 Mitsubishi Heavy Ind Ltd 移動体の針路計画変更システムおよび針路計画変更方法
JP3781370B2 (ja) * 2002-11-19 2006-05-31 本田技研工業株式会社 移動装置
EP1586423B1 (en) * 2002-12-10 2011-10-05 Honda Motor Co., Ltd. Robot control device, robot control method, and robot control program
JP2004258967A (ja) * 2003-02-26 2004-09-16 Matsushita Electric Ind Co Ltd 移動作業ロボット
JP2005316759A (ja) * 2004-04-28 2005-11-10 Mitsubishi Heavy Ind Ltd 移動体の障害物回避方法及び該移動体
DE102004043514A1 (de) 2004-09-08 2006-03-09 Sick Ag Verfahren und Vorrichtung zum Steuern einer sicherheitsrelevanten Funktion einer Maschine
JP4348276B2 (ja) * 2004-11-02 2009-10-21 本田技研工業株式会社 ロボット制御装置
JP4432912B2 (ja) * 2006-02-07 2010-03-17 富士通株式会社 ロボットの移動制御方法、および移動ロボット
JP4579191B2 (ja) * 2006-06-05 2010-11-10 本田技研工業株式会社 移動体の衝突回避システム、プログラムおよび方法
JP4699426B2 (ja) 2006-08-08 2011-06-08 パナソニック株式会社 障害物回避方法と障害物回避移動装置
US8170287B2 (en) * 2007-10-26 2012-05-01 Honda Motor Co., Ltd. Real-time self collision and obstacle avoidance
WO2009055707A1 (en) * 2007-10-26 2009-04-30 Honda Motor Co., Ltd. Real-time self collision and obstacle avoidance
JP5044011B2 (ja) * 2008-03-06 2012-10-10 パナソニック株式会社 マニピュレータおよびその制御方法
US8587402B2 (en) * 2008-03-07 2013-11-19 Palm, Inc. Context aware data processing in mobile computing device
FR2930108B1 (fr) 2008-04-09 2010-07-30 Aldebaran Robotics Systeme et procede de communication distribue comprenant au moins un serveur, au moins un terminal distant, et au moins un terminal mobile capable de communiquer avec le terminal distant relie en reseau audit serveur
JP5215740B2 (ja) * 2008-06-09 2013-06-19 株式会社日立製作所 移動ロボットシステム
JP2011056646A (ja) * 2009-09-14 2011-03-24 Canon Inc ロボットアームの制御方法
US20120061155A1 (en) * 2010-04-09 2012-03-15 Willow Garage, Inc. Humanoid robotics system and methods
US20110298579A1 (en) * 2010-06-08 2011-12-08 Cedes Safety & Automation Ag Dynamically adaptable safety zones
JP5978028B2 (ja) * 2012-06-28 2016-08-24 本田技研工業株式会社 移動ロボットの制御装置
EP2933065A1 (en) 2014-04-17 2015-10-21 Aldebaran Robotics Humanoid robot with an autonomous life capability
EP2952300A1 (en) 2014-06-05 2015-12-09 Aldebaran Robotics Collision detection
EP2952993B1 (en) 2014-06-05 2018-04-25 Softbank Robotics Europe Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot

Also Published As

Publication number Publication date
AU2015270458A1 (en) 2016-12-22
AU2015270458B2 (en) 2018-05-10
SG11201609651QA (en) 2016-12-29
KR20170042547A (ko) 2017-04-19
WO2015185738A3 (en) 2016-01-21
CN106573377A (zh) 2017-04-19
CA2950979C (en) 2019-06-04
CN106573377B (zh) 2019-12-10
US20170080565A1 (en) 2017-03-23
EP2952301B1 (en) 2019-12-25
NZ728053A (en) 2018-06-29
EP2952301A1 (en) 2015-12-09
KR101986919B1 (ko) 2019-06-07
JP2017516670A (ja) 2017-06-22
RU2016152159A (ru) 2018-07-10
US10179406B2 (en) 2019-01-15
RU2016152159A3 (es) 2018-09-05
WO2015185738A2 (en) 2015-12-10
CA2950979A1 (en) 2015-12-10
ES2773136T3 (es) 2020-07-09
JP6567563B2 (ja) 2019-08-28
BR112016028357A2 (pt) 2017-08-22

Similar Documents

Publication Publication Date Title
MX2016015824A (es) Robot humanoide con capacidad para recuperar la trayectoria y evitar colisiones.
MX2019003320A (es) Metodo de asistencia a la conduccion y dispositivo de asistencia a la conduccion.
EP3469974A4 (en) COOPERATIVE WORKING SYSTEM FROM MOM ROBOT AND CHILD ROBOT AND OPERATING PROCEDURE FOR THIS
WO2018112495A3 (de) Autonomer mobiler roboter und verfahren zum steuern eines autonomen mobilen roboters
EP3446189A4 (en) SECURITY SYSTEM, METHOD AND COMPUTER PROGRAM FOR REMOTE CONTROLLED COMMERCIAL VEHICLES
EP3133457A4 (en) Obstacle avoidance walking method of self-moving robot
EP3133459A4 (en) Local obstacle avoidance walking method of self-moving robot
SG11201608205UA (en) Method of performing multi-modal dialogue between a humanoid robot and user, computer program product and humanoid robot for implementing said method
GB201902507D0 (en) Autonomous behavior robot recognizing direction of sound source
PL3204280T3 (pl) Zabezpieczenie funkcji wspomagania jazdy w systemie wspomagania układu kierowniczego
EP3379512A4 (en) OBSTACLE MONITORING DEVICE, VEHICLE CONTROL DEVICE AND WORK MACHINE
EP3276374A4 (en) Aircraft and obstacle avoidance method and system thereof
SG11201610131QA (en) Method for building a map of probability of one of absence and presence of obstacles for an autonomous robot
MX353820B (es) Aparato de control de vehículo.
EP3193768A4 (en) Systems and methods for utilizing augmented jacobian to control manipulator joint movement
GB201509069D0 (en) Collision avoidance method, computer program product for said collision avoidance method and collision avoidance system
EP3102914A4 (en) Obstacle detection for a robotic working tool
CL2017001713A1 (es) Control de pasaje de zona en lugar de trabajo
MX364720B (es) Controles de energia a base de detectores para un sistema de soldadura.
MX2019002499A (es) Metodo de control de desplazamiento de vehiculo y dispositivo de control de desplazamiento de vehiculo.
EP3326874A4 (en) COLLISION PREVENTION CONTROL DEVICE FOR A VEHICLE AND COLLISION PREVENTION CONTROL METHOD
EP3655119A4 (en) CLIMBING ASSISTANCE SPEED CONTROL
EP3326875A4 (en) Collision avoidance control device for vehicle, and collision avoidance control method
EP3563231A4 (en) SYSTEMS AND / OR METHODS FOR TYPE DERIVATION FROM A MACHINE CODE
MX2018009147A (es) Metodo de control de desplazamiento de vehiculo y dispositivo de control de desplazamiento de vehiculo.