SG11201608202YA - Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller - Google Patents

Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller

Info

Publication number
SG11201608202YA
SG11201608202YA SG11201608202YA SG11201608202YA SG11201608202YA SG 11201608202Y A SG11201608202Y A SG 11201608202YA SG 11201608202Y A SG11201608202Y A SG 11201608202YA SG 11201608202Y A SG11201608202Y A SG 11201608202YA SG 11201608202Y A SG11201608202Y A SG 11201608202YA
Authority
SG
Singapore
Prior art keywords
linear predictive
robot based
humanoid robot
velocity controller
predictive position
Prior art date
Application number
SG11201608202YA
Other languages
English (en)
Inventor
Jory Lafaye
David Gouaillier
Pierre-Brice Wieber
Original Assignee
Softbank Robotics Europ
Inst Nat Rech Inf Automat
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 Europ, Inst Nat Rech Inf Automat filed Critical Softbank Robotics Europ
Publication of SG11201608202YA publication Critical patent/SG11201608202YA/en

Links

Classifications

    • 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
    • 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
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • 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
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • 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
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • 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
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • User Interface Of Digital Computer (AREA)
SG11201608202YA 2014-04-17 2015-04-17 Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller SG11201608202YA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14305584.6A EP2933068B1 (en) 2014-04-17 2014-04-17 Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller
PCT/EP2015/058367 WO2015158884A2 (en) 2014-04-17 2015-04-17 Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller

Publications (1)

Publication Number Publication Date
SG11201608202YA true SG11201608202YA (en) 2016-10-28

Family

ID=50588608

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201608202YA SG11201608202YA (en) 2014-04-17 2015-04-17 Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller

Country Status (13)

Country Link
US (1) US10293486B2 (ru)
EP (1) EP2933068B1 (ru)
JP (1) JP6423075B2 (ru)
KR (1) KR101942167B1 (ru)
CN (1) CN106794576B (ru)
AU (1) AU2015248710B2 (ru)
CA (1) CA2946047C (ru)
HK (1) HK1216404A1 (ru)
MX (1) MX2016013020A (ru)
NZ (1) NZ725276A (ru)
RU (1) RU2680628C2 (ru)
SG (1) SG11201608202YA (ru)
WO (1) WO2015158884A2 (ru)

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CN106426197B (zh) * 2016-09-14 2018-12-11 中国兵器装备集团自动化研究所 一种可变服务机器人
US10493617B1 (en) 2016-10-21 2019-12-03 X Development Llc Robot control
KR102660834B1 (ko) * 2016-12-23 2024-04-26 엘지전자 주식회사 안내 로봇
CN110382174A (zh) * 2017-01-10 2019-10-25 直觉机器人有限公司 一种用于执行情绪姿势以与用户交互作用的装置
JP7000704B2 (ja) * 2017-05-16 2022-01-19 富士フイルムビジネスイノベーション株式会社 移動式サービス提供装置及びプログラム
CN109991989B (zh) * 2017-12-29 2021-12-17 深圳市优必选科技有限公司 机器人空闲状态下的动态平衡方法、装置及存储介质
US11855932B2 (en) 2018-03-02 2023-12-26 Intuition Robotics, Ltd. Method for adjusting a device behavior based on privacy classes
CN109782759B (zh) * 2019-01-08 2021-11-02 华侨大学 一种轮式移动机器人的近似解耦、快速轨迹跟踪控制方法
CN109885052B (zh) * 2019-02-26 2022-03-25 华南理工大学 基于全向移动机器人运动学建模的误差模型预测控制方法
WO2020248130A1 (zh) * 2019-06-11 2020-12-17 深圳市大疆创新科技有限公司 可移动平台的控制方法、设备、可移动平台及存储介质
RU2731793C1 (ru) * 2019-09-17 2020-09-08 Федеральное государственное бюджетное образовательное учреждение высшего образования "Национальный государственный университет физической культуры, спорта и здоровья имени П.Ф. Лесгафта, Санкт-Петербург" Устройство дистанционного измерения кинематических характеристик 3D движения человека, в том числе антропоморфного механизма
KR102492869B1 (ko) * 2020-10-27 2023-01-31 한국과학기술연구원 영공간으로 투영된 작업 공간을 활용한 볼봇의 자세 균형 제어 방법 및 이를 이용하는 제어 시스템
RU2749202C1 (ru) * 2020-12-07 2021-06-07 Общество с ограниченной ответственностью «РобоСиВи» Способ планирования движения робота и мобильный робот
CN112666939B (zh) * 2020-12-09 2021-09-10 深圳先进技术研究院 一种基于深度强化学习的机器人路径规划算法
CN112987769B (zh) * 2021-02-22 2022-07-05 武汉科技大学 四足机器人在变刚度地形稳定过渡的腿部主动调节方法
CN113601504A (zh) * 2021-08-04 2021-11-05 之江实验室 机器人肢体动作的控制方法及装置、电子设备、存储介质
CN113561189B (zh) * 2021-09-27 2021-12-31 深圳市优必选科技股份有限公司 冗余度机器人的关节加速度规划方法、装置、设备及介质
CN113791535B (zh) * 2021-09-29 2024-04-19 北京布科思科技有限公司 轨迹跟随实时控制方法、装置和控制系统以及存储介质
CN114147710B (zh) * 2021-11-27 2023-08-11 深圳市优必选科技股份有限公司 机器人的控制方法、装置、机器人及存储介质
CN114654462A (zh) * 2022-02-28 2022-06-24 电子科技大学 一种稳定运输的送餐机器人
CN115407791B (zh) * 2022-08-19 2023-12-12 沈阳工业大学 一种考虑重心偏移影响的步行训练机器人轨迹跟踪方法
CN115958575B (zh) * 2023-03-16 2023-06-02 中国科学院自动化研究所 类人灵巧操作移动机器人
CN116382101B (zh) * 2023-06-05 2023-09-01 成都信息工程大学 考虑不确定性的轮式移动机器人自适应控制方法及系统

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KR20130074143A (ko) * 2011-12-26 2013-07-04 평화산업주식회사 옴니인 휠을 구비한 라이더 로봇
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Also Published As

Publication number Publication date
US10293486B2 (en) 2019-05-21
AU2015248710A1 (en) 2016-11-03
AU2015248710B2 (en) 2018-02-08
CA2946047C (en) 2018-11-13
WO2015158884A2 (en) 2015-10-22
US20170144306A1 (en) 2017-05-25
CN106794576B (zh) 2019-06-21
CN106794576A (zh) 2017-05-31
CA2946047A1 (en) 2015-10-22
JP6423075B2 (ja) 2018-11-14
RU2016144026A3 (ru) 2018-05-22
MX2016013020A (es) 2017-10-04
EP2933068B1 (en) 2021-08-18
NZ725276A (en) 2018-03-23
JP2017515698A (ja) 2017-06-15
WO2015158884A3 (en) 2015-12-10
KR20170029408A (ko) 2017-03-15
EP2933068A1 (en) 2015-10-21
RU2016144026A (ru) 2018-05-22
RU2680628C2 (ru) 2019-02-25
KR101942167B1 (ko) 2019-04-11
HK1216404A1 (zh) 2016-11-11

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