WO2003020476A1 - Dispositif de commande a distance pour robot mobile bipede - Google Patents

Dispositif de commande a distance pour robot mobile bipede Download PDF

Info

Publication number
WO2003020476A1
WO2003020476A1 PCT/JP2002/008377 JP0208377W WO03020476A1 WO 2003020476 A1 WO2003020476 A1 WO 2003020476A1 JP 0208377 W JP0208377 W JP 0208377W WO 03020476 A1 WO03020476 A1 WO 03020476A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
moving amount
moving
remote control
control device
Prior art date
Application number
PCT/JP2002/008377
Other languages
English (en)
French (fr)
Inventor
Shigeo Sano
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
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 Honda Giken Kogyo Kabushiki Kaisha filed Critical Honda Giken Kogyo Kabushiki Kaisha
Priority to DE60238426T priority Critical patent/DE60238426D1/de
Priority to JP2003524771A priority patent/JP3836466B2/ja
Priority to EP02760670A priority patent/EP1433574B1/en
Priority to KR10-2004-7002818A priority patent/KR100501456B1/ko
Priority to US10/488,055 priority patent/US7221999B2/en
Publication of WO2003020476A1 publication Critical patent/WO2003020476A1/ja

Links

Classifications

    • 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
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
PCT/JP2002/008377 2001-08-29 2002-08-20 Dispositif de commande a distance pour robot mobile bipede WO2003020476A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE60238426T DE60238426D1 (de) 2001-08-29 2002-08-20 Fernsteuervorrichtung für beweglichen zweibeinigen roboter
JP2003524771A JP3836466B2 (ja) 2001-08-29 2002-08-20 二足移動ロボットの遠隔操作装置
EP02760670A EP1433574B1 (en) 2001-08-29 2002-08-20 Remote control device of bipedal mobile robot
KR10-2004-7002818A KR100501456B1 (ko) 2001-08-29 2002-08-20 2족 이동 로봇의 원격 조작 장치
US10/488,055 US7221999B2 (en) 2001-08-29 2002-08-20 Remote control device of bipedal mobile robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001259974 2001-08-29
JP2001-259974 2001-08-29

Publications (1)

Publication Number Publication Date
WO2003020476A1 true WO2003020476A1 (fr) 2003-03-13

Family

ID=19087247

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2002/008377 WO2003020476A1 (fr) 2001-08-29 2002-08-20 Dispositif de commande a distance pour robot mobile bipede

Country Status (7)

Country Link
US (1) US7221999B2 (ja)
EP (1) EP1433574B1 (ja)
JP (1) JP3836466B2 (ja)
KR (1) KR100501456B1 (ja)
CN (1) CN1296182C (ja)
DE (1) DE60238426D1 (ja)
WO (1) WO2003020476A1 (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1391276A1 (en) * 2002-08-21 2004-02-25 NTT DoCoMo, Inc. Robot remote manipulation device provided with a pair of rotating elements for controlling the legs of a bipedal robot
JP2008067884A (ja) * 2006-09-14 2008-03-27 Futaba Corp 模型用ラジオコントロール送信機

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WO2003090982A1 (fr) * 2002-04-26 2003-11-06 Honda Giken Kogyo Kabushiki Kaisha Dispositif de commande et dispositif de determination de pas pour robot mobile sur jambes
EP1610221A4 (en) * 2003-03-28 2009-01-07 Sony Corp INFORMATION PROVIDER DEVICE, ASSOCIATED METHOD, AND INFORMATION PROVIDER SYSTEM
JP2007030060A (ja) * 2005-07-22 2007-02-08 Honda Motor Co Ltd 移動ロボットの制御装置
WO2007057390A2 (en) * 2005-11-16 2007-05-24 Abb Ab Method and device for controlling motion of an industrial robot with a position switch
US9101279B2 (en) 2006-02-15 2015-08-11 Virtual Video Reality By Ritchey, Llc Mobile user borne brain activity data and surrounding environment data correlation system
JP2008100287A (ja) * 2006-10-17 2008-05-01 Futaba Corp ロボットシステム
US9168963B2 (en) * 2007-12-28 2015-10-27 The Invention Science Fund I, Llc Systems and methods employing limbed vehicle and spaced posts
US9162719B2 (en) * 2007-12-28 2015-10-20 The Invention Science Fund I, Llc Limbed vehicles, systems and methods using same, and post networks on which limbed vehicles travel
KR20100001567A (ko) * 2008-06-27 2010-01-06 삼성전자주식회사 보행 로봇 및 그 제어 방법
US8345004B1 (en) * 2009-03-06 2013-01-01 Pixar Methods and apparatus for differentially controlling degrees of freedom of an object
US8777818B1 (en) * 2010-12-22 2014-07-15 Larry E. Tate, Jr. Training device
CN103909524B (zh) * 2013-01-09 2015-10-28 上银科技股份有限公司 定向式位置控制方法
JP5642304B2 (ja) * 2013-02-15 2014-12-17 株式会社神戸製鋼所 ロボットペンダント
US10081098B1 (en) 2014-08-25 2018-09-25 Boston Dynamics, Inc. Generalized coordinate surrogates for integrated estimation and control
US9618937B1 (en) 2014-08-25 2017-04-11 Google Inc. Slip detection using robotic limbs
US9387588B1 (en) 2014-08-25 2016-07-12 Google Inc. Handling gait disturbances with asynchronous timing
US9446518B1 (en) * 2014-11-11 2016-09-20 Google Inc. Leg collision avoidance in a robotic device
US9499218B1 (en) 2014-12-30 2016-11-22 Google Inc. Mechanically-timed footsteps for a robotic device
JP6690265B2 (ja) * 2015-03-19 2020-04-28 株式会社デンソーウェーブ ロボット操作装置、ロボット操作方法
KR102562556B1 (ko) * 2015-04-16 2023-08-03 삼성전자주식회사 이동 로봇 시스템 및 그 원격 제어 방법
US9594377B1 (en) * 2015-05-12 2017-03-14 Google Inc. Auto-height swing adjustment
US9586316B1 (en) 2015-09-15 2017-03-07 Google Inc. Determination of robotic step path
SE539323C2 (en) * 2015-10-19 2017-07-04 Husqvarna Ab Improved control of remote demolition robot
US9789919B1 (en) 2016-03-22 2017-10-17 Google Inc. Mitigating sensor noise in legged robots
US10427305B2 (en) * 2016-07-21 2019-10-01 Autodesk, Inc. Robotic camera control via motion capture
CN106826814B (zh) * 2016-12-16 2019-12-10 深圳市优必选科技有限公司 一种机器人的运动控制方法和运动控制系统
CN108536165A (zh) * 2018-04-02 2018-09-14 深圳小趴智能科技有限公司 一种姿态感应遥控装置控制机器人运动方法
CN111487972B (zh) * 2020-04-24 2024-04-26 深圳市优必选科技股份有限公司 一种踢球的步态规划方法、装置、可读存储介质及机器人
CN113238500B (zh) * 2021-04-28 2022-04-01 上海大学 足式机器人整机运动灵巧操控的多模式遥控系统
CN114750188A (zh) * 2022-04-15 2022-07-15 公安部第一研究所 一种巡逻机器人控制终端及其控制方法

Citations (4)

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Publication number Priority date Publication date Assignee Title
JPH05318338A (ja) * 1992-05-14 1993-12-03 Hitachi Ltd 脚移動機構操縦システム
JPH11262884A (ja) * 1998-03-19 1999-09-28 Denso Corp ロボットのマニュアル操作装置
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
JP2002210680A (ja) * 2000-11-17 2002-07-30 Sony Corp 脚式移動ロボットの動作制御装置及び動作制御方法、並びに脚式移動ロボットのための動作ユニット生成方法

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US5404086A (en) * 1992-07-20 1995-04-04 Honda Giken Kogyo Kabushiki Kaisha System for controlling locomotion of legged mobile robot and correcting inclinometer's output thereof
JP3330710B2 (ja) * 1993-12-30 2002-09-30 本田技研工業株式会社 移動ロボットの位置検知および制御装置
US5982389A (en) * 1996-06-17 1999-11-09 Microsoft Corporation Generating optimized motion transitions for computer animated objects
JP3672406B2 (ja) * 1997-01-31 2005-07-20 本田技研工業株式会社 脚式移動ロボットの歩容生成装置
CA2271498C (en) * 1998-05-11 2007-01-09 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot
CN2384655Y (zh) * 1999-06-10 2000-06-28 黄善钧 遥控机器人踢球玩具
JP2001062766A (ja) * 1999-08-26 2001-03-13 Matsushita Electric Works Ltd ２足歩行ロボットの遠隔制御用ユーザインターフェイスシステム
CN2392580Y (zh) * 1999-11-05 2000-08-23 刘明福 遥控机器人玩具
JP2001198865A (ja) * 2000-01-20 2001-07-24 Toshiba Corp ２足歩行ロボット装置およびその運用方法
US6789338B2 (en) * 2000-11-17 2004-09-14 Honda Giken Kogyo Kabushiki Kaisha Remote controller of biped robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05318338A (ja) * 1992-05-14 1993-12-03 Hitachi Ltd 脚移動機構操縦システム
JPH11262884A (ja) * 1998-03-19 1999-09-28 Denso Corp ロボットのマニュアル操作装置
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
JP2002210680A (ja) * 2000-11-17 2002-07-30 Sony Corp 脚式移動ロボットの動作制御装置及び動作制御方法、並びに脚式移動ロボットのための動作ユニット生成方法

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
KOICHI NISHIWAKI: "Online mixture and connection of basic motions for humanoid walking control by footprint specification", PROC. IEEE, INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, May 2001 (2001-05-01), pages 4110 - 4115, XP010550779 *
See also references of EP1433574A4 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1391276A1 (en) * 2002-08-21 2004-02-25 NTT DoCoMo, Inc. Robot remote manipulation device provided with a pair of rotating elements for controlling the legs of a bipedal robot
US7092792B2 (en) 2002-08-21 2006-08-15 Ntt Docomo, Inc. Robot remote manipulation system and remote manipulation device
JP2008067884A (ja) * 2006-09-14 2008-03-27 Futaba Corp 模型用ラジオコントロール送信機

Also Published As

Publication number Publication date
CN1549758A (zh) 2004-11-24
EP1433574A1 (en) 2004-06-30
KR100501456B1 (ko) 2005-07-18
US7221999B2 (en) 2007-05-22
JP3836466B2 (ja) 2006-10-25
EP1433574B1 (en) 2010-11-24
CN1296182C (zh) 2007-01-24
US20040236467A1 (en) 2004-11-25
JPWO2003020476A1 (ja) 2004-12-16
KR20040031005A (ko) 2004-04-09
EP1433574A4 (en) 2009-02-25
DE60238426D1 (de) 2011-01-05

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