WO2003057423A1 - Dispositif de production de demarche pour robot se deplaçant sur des jambes - Google Patents

Dispositif de production de demarche pour robot se deplaçant sur des jambes Download PDF

Info

Publication number
WO2003057423A1
WO2003057423A1 PCT/JP2002/013592 JP0213592W WO03057423A1 WO 2003057423 A1 WO2003057423 A1 WO 2003057423A1 JP 0213592 W JP0213592 W JP 0213592W WO 03057423 A1 WO03057423 A1 WO 03057423A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
component
friction force
allowable range
gait
Prior art date
Application number
PCT/JP2002/013592
Other languages
English (en)
French (fr)
Inventor
Toru Takenaka
Takashi Matsumoto
Takahide Yoshiike
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 DE60235839T priority Critical patent/DE60235839D1/de
Priority to EP02806075A priority patent/EP1475196B1/en
Priority to US10/499,936 priority patent/US7487011B2/en
Priority to KR1020047010262A priority patent/KR100889598B1/ko
Priority to JP2003557764A priority patent/JP3672100B2/ja
Publication of WO2003057423A1 publication Critical patent/WO2003057423A1/ja

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
    • 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
    • B25J13/00—Controls for manipulators
    • 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
PCT/JP2002/013592 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes WO2003057423A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE60235839T DE60235839D1 (de) 2001-12-28 2002-12-26 Gangerzeugungsvorrichtung für beweglichen roboter mit beinen
EP02806075A EP1475196B1 (en) 2001-12-28 2002-12-26 Gait producing device for leg type movable robot
US10/499,936 US7487011B2 (en) 2001-12-28 2002-12-26 Gait generation device for legged mobile robot
KR1020047010262A KR100889598B1 (ko) 2001-12-28 2002-12-26 다리식 이동로봇의 보용 생성 장치
JP2003557764A JP3672100B2 (ja) 2001-12-28 2002-12-26 脚式移動ロボットの歩容生成装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001399496 2001-12-28
JP2001-399496 2001-12-28

Publications (1)

Publication Number Publication Date
WO2003057423A1 true WO2003057423A1 (fr) 2003-07-17

Family

ID=19189479

Family Applications (7)

Application Number Title Priority Date Filing Date
PCT/JP2002/013594 WO2003057424A1 (fr) 2001-12-28 2002-12-26 Production de demarche pour robot se deplaçant sur des jambes
PCT/JP2002/013597 WO2003057430A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche et dispositif de commande pour robot mobile du type a jambes
PCT/JP2002/013596 WO2003057425A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes, et dispositif de commande
PCT/JP2002/013598 WO2003057426A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot mobile a jambes
PCT/JP2002/013595 WO2003057429A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes
PCT/JP2002/013591 WO2003057422A1 (fr) 2001-12-28 2002-12-26 Dispositif generateur d'allure pour robot mobile a jambes
PCT/JP2002/013592 WO2003057423A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes

Family Applications Before (6)

Application Number Title Priority Date Filing Date
PCT/JP2002/013594 WO2003057424A1 (fr) 2001-12-28 2002-12-26 Production de demarche pour robot se deplaçant sur des jambes
PCT/JP2002/013597 WO2003057430A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche et dispositif de commande pour robot mobile du type a jambes
PCT/JP2002/013596 WO2003057425A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes, et dispositif de commande
PCT/JP2002/013598 WO2003057426A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot mobile a jambes
PCT/JP2002/013595 WO2003057429A1 (fr) 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes
PCT/JP2002/013591 WO2003057422A1 (fr) 2001-12-28 2002-12-26 Dispositif generateur d'allure pour robot mobile a jambes

Country Status (6)

Country Link
US (7) US7496428B2 (ja)
EP (7) EP1470900B1 (ja)
JP (7) JP3672103B2 (ja)
KR (7) KR100917181B1 (ja)
DE (7) DE60236460D1 (ja)
WO (7) WO2003057424A1 (ja)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006026828A (ja) * 2004-07-16 2006-02-02 Toyota Motor Corp ロボットの動作計画方法
JP2007531636A (ja) * 2004-03-31 2007-11-08 本田技研工業株式会社 角運動量の変化率に基づいて脚式ロボットを制御するためのシステム及び方法
US7379789B2 (en) 2003-06-27 2008-05-27 Honda Motor Co., Ltd. Gait generating device of legged mobile robot and legged mobile robot controller
US7734378B2 (en) 2003-06-27 2010-06-08 Honda Motor Co., Ltd. Gait generation device for legged mobile robot
US8145354B2 (en) 2005-03-30 2012-03-27 Honda Motor Co., Ltd. Systems and methods for controlling a legged robot using a two-phase disturbance response strategy

Families Citing this family (93)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE60237999D1 (de) * 2001-12-28 2010-11-25 Honda Motor Co Ltd Vorrichtung zur steuerung des ganges für mobilen roboter mit beinen
DE60236460D1 (de) * 2001-12-28 2010-07-01 Honda Motor Co Ltd Gangerzeugungsvorrichtung für beweglichen roboter mit beinen
WO2003061917A1 (fr) * 2002-01-18 2003-07-31 Honda Giken Kogyo Kabushiki Kaisha Dispositif de commande pour robot bipede
WO2003090979A1 (fr) 2002-04-26 2003-11-06 Honda Giken Kogyo Kabushiki Kaisha Systeme permettant d'estimer l'attitude d'un robot mobile monte sur des jambes
JP4225968B2 (ja) 2002-04-26 2009-02-18 本田技研工業株式会社 脚式移動ロボットの制御装置
JP3599244B2 (ja) 2002-11-06 2004-12-08 ソニー株式会社 ロボット装置、ロボット装置の運動制御装置並びに運動制御方法
US7238079B2 (en) * 2003-01-14 2007-07-03 Disney Enterprise, Inc. Animatronic supported walking system
CN100344416C (zh) * 2003-03-23 2007-10-24 索尼株式会社 机器人装置和控制该装置的方法
KR20050005995A (ko) * 2003-07-08 2005-01-15 삼성전자주식회사 2족 보행 이동 장치의 보행 제어 방법
JP4592276B2 (ja) * 2003-10-24 2010-12-01 ソニー株式会社 ロボット装置のためのモーション編集装置及びモーション編集方法、並びにコンピュータ・プログラム
JP4513320B2 (ja) * 2003-12-17 2010-07-28 ソニー株式会社 ロボット装置、並びにロボット装置の運動制御方法
WO2005075156A1 (ja) * 2004-02-06 2005-08-18 Honda Motor Co., Ltd. 移動ロボットの歩容生成装置
US7319302B2 (en) 2004-02-16 2008-01-15 Honda Motor Co., Ltd. Gate generating system for mobile robot
JP4805818B2 (ja) * 2004-02-27 2011-11-02 本田技研工業株式会社 移動ロボットの歩容生成装置
JP4744092B2 (ja) * 2004-03-23 2011-08-10 本田技研工業株式会社 脚式移動ロボットおよびその制御装置
JP4410051B2 (ja) * 2004-07-22 2010-02-03 本田技研工業株式会社 角速度計測装置および脚式移動ロボット
JP4485279B2 (ja) 2004-08-02 2010-06-16 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および制御装置
JP2006068872A (ja) * 2004-09-03 2006-03-16 Honda Motor Co Ltd 脚式移動ロボット
JP4531520B2 (ja) * 2004-10-15 2010-08-25 本田技研工業株式会社 脚式移動ロボットの制御装置
KR101131776B1 (ko) 2004-10-15 2012-04-06 혼다 기켄 고교 가부시키가이샤 다리식 이동 로봇의 보용 생성장치
WO2006064598A1 (ja) 2004-12-14 2006-06-22 Honda Motor Co., Ltd. 脚式移動ロボットおよびその制御プログラム
EP1842628B1 (en) * 2004-12-14 2011-05-11 Honda Motor Co., Ltd. Legged mobile robot
JP4440761B2 (ja) 2004-12-24 2010-03-24 本田技研工業株式会社 脚式移動ロボットの制御装置
JP4548135B2 (ja) 2005-02-03 2010-09-22 トヨタ自動車株式会社 脚式ロボットとその制御方法
JP4492395B2 (ja) * 2005-03-09 2010-06-30 トヨタ自動車株式会社 脚式ロボットとその動作制御方法
US7689320B2 (en) * 2005-12-20 2010-03-30 Intuitive Surgical Operations, Inc. Robotic surgical system with joint motion controller adapted to reduce instrument tip vibrations
JP4951732B2 (ja) * 2006-05-02 2012-06-13 ソニー株式会社 駆動方法、駆動制御装置及びロボット
KR100835354B1 (ko) * 2006-07-05 2008-06-04 삼성전자주식회사 보행로봇 및 그의 제어방법
JP4591419B2 (ja) * 2006-07-18 2010-12-01 トヨタ自動車株式会社 ロボットとその制御方法
JP4692443B2 (ja) 2006-09-06 2011-06-01 トヨタ自動車株式会社 脚式ロボット
US8180486B2 (en) * 2006-10-02 2012-05-15 Honda Motor Co., Ltd. Mobile robot and controller for same
JP4930003B2 (ja) * 2006-11-20 2012-05-09 株式会社日立製作所 移動ロボット
WO2008067404A2 (en) * 2006-11-29 2008-06-05 Honda Motor Co., Ltd. Determination of foot placement for humanoid push recovery
JP4985776B2 (ja) * 2007-09-25 2012-07-25 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
WO2009067458A1 (en) * 2007-11-21 2009-05-28 Honda Motor Co., Ltd. Learning capture points for humanoid push recovery
KR100958114B1 (ko) * 2007-12-17 2010-05-18 한국과학기술연구원 인간형 로봇의 보행 안정화 및 자세 제어 방법
JP2010058253A (ja) * 2008-09-08 2010-03-18 Waseda Univ ２足歩行ロボットの制御装置、及び２足歩行ロボットの制御方法
US8332068B2 (en) * 2008-12-19 2012-12-11 Honda Motor Co., Ltd. Intelligent stepping for humanoid fall direction change
TW201031507A (en) * 2009-02-25 2010-09-01 Micro Star Int Co Ltd Control apparatus of a multi-axial joint and control method thereof
JP5219956B2 (ja) * 2009-07-23 2013-06-26 本田技研工業株式会社 移動体の制御装置
JP5506618B2 (ja) * 2009-12-28 2014-05-28 本田技研工業株式会社 ロボットの制御装置
KR101687631B1 (ko) * 2010-01-18 2016-12-20 삼성전자주식회사 로봇의 보행 제어 장치 및 그 제어 방법
JP5398592B2 (ja) * 2010-03-01 2014-01-29 本田技研工業株式会社 脚式移動ロボットの運動状態評価装置
JP5398589B2 (ja) 2010-03-01 2014-01-29 本田技研工業株式会社 脚式移動ロボットの目標運動評価装置
US8396593B2 (en) 2010-03-01 2013-03-12 Honda Motor Co., Ltd. Gait generating device of legged mobile robot
US8428780B2 (en) * 2010-03-01 2013-04-23 Honda Motor Co., Ltd. External force target generating device of legged mobile robot
JP5468974B2 (ja) * 2010-04-22 2014-04-09 本田技研工業株式会社 ２足移動ロボットの制御装置及び歩容生成装置
US9120512B2 (en) 2010-04-22 2015-09-01 Honda Motor Co., Ltd. Control device and gait generating device for bipedal mobile robot
KR101200191B1 (ko) * 2010-07-14 2012-11-13 서울대학교산학협력단 데이터 기반 바이페드 제어 장치 및 방법
US8880221B2 (en) * 2011-03-21 2014-11-04 Honda Motor Co., Ltd. Damage reduction control for humanoid robot fall
JP5752500B2 (ja) 2011-06-27 2015-07-22 本田技研工業株式会社 軌道生成システム
US20130077820A1 (en) * 2011-09-26 2013-03-28 Microsoft Corporation Machine learning gesture detection
KR20130073591A (ko) * 2011-12-23 2013-07-03 삼성전자주식회사 지지모듈 및 이를 포함하는 로봇
KR101985790B1 (ko) * 2012-02-21 2019-06-04 삼성전자주식회사 보행 로봇 및 그 제어 방법
US9605952B2 (en) * 2012-03-08 2017-03-28 Quality Manufacturing Inc. Touch sensitive robotic gripper
US9156159B2 (en) * 2012-03-08 2015-10-13 Disney Enterprises Inc. Robot cyclic locomotion using a dynamic object
CN102672719B (zh) * 2012-05-10 2014-11-19 浙江大学 一种仿人机器人手臂作业动态稳定控制方法
KR101348404B1 (ko) * 2012-05-29 2014-01-09 이학용 와이어가이드 및 그를 이용한 구동장치
JP5642214B2 (ja) * 2013-02-15 2014-12-17 株式会社神戸製鋼所 多関節ロボットの弾性変形補償制御装置
JP6071815B2 (ja) * 2013-09-06 2017-02-01 本田技研工業株式会社 脚式移動ロボットの制御装置
KR101456797B1 (ko) 2013-10-10 2014-10-31 재단법인대구경북과학기술원 다리식 이동 로봇의 방향 전환 제어 장치 및 그 방법
JP5859036B2 (ja) * 2014-02-04 2016-02-10 本田技研工業株式会社 ロボット
JP5897644B2 (ja) * 2014-06-02 2016-03-30 株式会社神戸製鋼所 ロボットの制御装置
US9387896B1 (en) 2014-08-25 2016-07-12 Google Inc. Slip avoidance
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
US10081098B1 (en) 2014-08-25 2018-09-25 Boston Dynamics, Inc. Generalized coordinate surrogates for integrated estimation and control
US9623556B1 (en) * 2014-09-03 2017-04-18 X Development Llc Robotic sole joint
JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
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
CN104765372B (zh) * 2015-03-02 2017-11-10 湘潭大学 一种多足机器人保持直线平动的步态规划方法
JP6407409B2 (ja) * 2015-04-02 2018-10-17 国立大学法人大阪大学 脚型機構体、歩行ロボット、姿勢制御方法及びプログラム
US9594377B1 (en) * 2015-05-12 2017-03-14 Google Inc. Auto-height swing adjustment
JP6450279B2 (ja) * 2015-08-05 2019-01-09 本田技研工業株式会社 移動ロボットの目標ｚｍｐ軌道の生成装置
US9586316B1 (en) 2015-09-15 2017-03-07 Google Inc. Determination of robotic step path
US9789607B1 (en) 2015-11-03 2017-10-17 Google Inc. Achieving a target gait in a legged robot based on steering commands
US10017218B1 (en) * 2015-11-11 2018-07-10 Boston Dynamics, Inc. Achieving a target gait behavior in a legged robot
CN106741277B (zh) * 2015-11-20 2020-10-30 沈阳新松机器人自动化股份有限公司 一种混合式机械腿机构
JP6498597B2 (ja) * 2015-12-14 2019-04-10 本田技研工業株式会社 移動ロボットの制御装置
US9789919B1 (en) 2016-03-22 2017-10-17 Google Inc. Mitigating sensor noise in legged robots
JP7069155B2 (ja) * 2017-06-29 2022-05-17 株式会社ソニー・インタラクティブエンタテインメント ロボットの制御装置、制御方法および制御プログラム
JP6823569B2 (ja) * 2017-09-04 2021-02-03 本田技研工業株式会社 目標ｚｍｐ軌道の生成装置
CN109693234B (zh) * 2017-10-20 2021-08-27 深圳市优必选科技有限公司 机器人跌倒预测方法、装置、终端设备及计算机存储介质
CN109693236B (zh) * 2017-10-23 2021-03-02 深圳市优必选科技有限公司 足式机器人着地控制方法及装置
CN109634100B (zh) * 2018-12-30 2021-11-02 深圳市优必选科技有限公司 仿人机器人行走加速度补偿方法、装置及仿人机器人
CN109856991B (zh) * 2019-01-22 2021-10-15 华东师范大学 一种基于动能热力分布图的动态虚拟人仿真方法
CN110001813B (zh) * 2019-04-19 2021-06-15 常州大学 一种单足驱动同时能够滚动摩擦与滑动的机器人腿
US11292126B2 (en) * 2019-10-17 2022-04-05 Disney Enterprises, Inc. Robots with robust bipedal locomotion supported with non-conventional physics
CN112757295B (zh) * 2020-12-28 2022-03-01 武汉远图信息科技有限公司 一种基于强化学习的双足机器人重心控制方法与仿真系统
DE102021112485B3 (de) 2021-05-12 2022-08-11 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Balancierung eines Roboters, Verfahren zur Ganzkörpersteuerung eines Roboters, Regler sowie Roboter
CN113297798B (zh) * 2021-06-10 2022-10-11 重庆邮电大学工业互联网研究院 一种基于人工神经网络的机器人外界接触力估计方法
US11738452B1 (en) * 2022-07-29 2023-08-29 Sarcos Corp. Sole with various compliant regions for robots

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1086081A (ja) 1996-07-25 1998-04-07 Honda Motor Co Ltd 脚式移動ロボットの歩容生成装置
JPH10277969A (ja) 1997-01-31 1998-10-20 Honda Motor Co Ltd 脚式移動ロボットの制御装置
JP2000352011A (ja) 1999-06-11 2000-12-19 Gakunan Koki Kk 視覚障害者用警告形道路ラインの施工方法
EP1120203A1 (en) * 1998-04-20 2001-08-01 Honda Giken Kogyo Kabushiki Kaisha Controller for legged mobile robot
WO2001087548A1 (fr) 2000-05-19 2001-11-22 Honda Giken Kogyo Kabushiki Kaisha Dispositif servant a deduire la forme du sol pour robot mobile pourvu de jambes

Family Cites Families (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08369B2 (ja) 1988-08-09 1996-01-10 工業技術院長 歩行脚運動軌跡制御装置
JP3078009B2 (ja) * 1990-11-30 2000-08-21 本田技研工業株式会社 脚式移動ロボットの歩行制御装置
US5455497A (en) 1992-04-20 1995-10-03 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot and a system for controlling the same
JP3148827B2 (ja) 1992-04-30 2001-03-26 本田技研工業株式会社 脚式移動ロボットの歩行制御装置
JP3132156B2 (ja) 1992-05-22 2001-02-05 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
JP3273443B2 (ja) * 1992-05-22 2002-04-08 本田技研工業株式会社 ロボットのリンクなどの軌道生成方法及び装置
JP3233450B2 (ja) 1992-05-22 2001-11-26 本田技研工業株式会社 指定時刻到達関数発生器
US5644204A (en) * 1994-11-03 1997-07-01 Nagle; John Anti-slip control for a legged robot and realisitc simulation of a legged creature
US5808433A (en) * 1995-09-29 1998-09-15 Honda Giken Kogyo Kabushiki Kaisha Method of generating gait of legged walking robot and system for controlling its locomotion
JP3662996B2 (ja) * 1996-01-25 2005-06-22 本田技研工業株式会社 脚式移動ロボットの歩行制御装置
JP3663034B2 (ja) 1996-07-25 2005-06-22 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
DE69725764T2 (de) * 1996-07-25 2004-08-05 Honda Giken Kogyo K.K. Vorrichtung zur nachbildung des ganges für einen zweibeinigen robotor
US5872893A (en) * 1996-07-25 1999-02-16 Honda Giken Kogyo Kabushiki Kaisha Gait generation system of legged mobile robot
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
DE69836765T2 (de) * 1997-01-31 2007-10-04 Honda Giken Kogyo K.K. Steuergerät eines mit beinen beweglichen roboters
JP3592886B2 (ja) 1997-04-08 2004-11-24 同和鉱業株式会社 弗化炭素類の分解方法および分解用反応剤
US6064168A (en) * 1998-03-13 2000-05-16 Fanuc Robotics North America, Inc. Method of controlling robot movement
JP4660870B2 (ja) 1999-11-08 2011-03-30 ソニー株式会社 脚式移動ロボット及びその制御方法
JP3555107B2 (ja) * 1999-11-24 2004-08-18 ソニー株式会社 脚式移動ロボット及び脚式移動ロボットの動作制御方法
JP3615702B2 (ja) * 1999-11-25 2005-02-02 ソニー株式会社 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
JP2001260063A (ja) * 2000-03-21 2001-09-25 Sony Corp 多関節型ロボット及びその動作制御方法
JP2001322079A (ja) * 2000-05-15 2001-11-20 Sony Corp 脚式移動ロボット及びその動作教示方法
KR100637057B1 (ko) * 2000-11-17 2006-10-23 혼다 기켄 고교 가부시키가이샤 레그식 이동 로봇의 보용 생성장치
JP3726032B2 (ja) 2001-04-27 2005-12-14 本田技研工業株式会社 脚式移動ロボットの目標運動生成装置
DE60236460D1 (de) * 2001-12-28 2010-07-01 Honda Motor Co Ltd Gangerzeugungsvorrichtung für beweglichen roboter mit beinen
WO2003061917A1 (fr) * 2002-01-18 2003-07-31 Honda Giken Kogyo Kabushiki Kaisha Dispositif de commande pour robot bipede
CN1305646C (zh) * 2002-02-15 2007-03-21 索尼公司 有腿的移动机器人腿部装置及该机器人的控制方法
EP1504858B1 (en) * 2002-04-26 2014-06-04 Honda Giken Kogyo Kabushiki Kaisha Control device and footstep determination device for legged mobile robot
WO2003090979A1 (fr) * 2002-04-26 2003-11-06 Honda Giken Kogyo Kabushiki Kaisha Systeme permettant d'estimer l'attitude d'un robot mobile monte sur des jambes
JP4181175B2 (ja) * 2003-06-27 2008-11-12 本田技研工業株式会社 脚式移動ロボットの制御装置
JP4513320B2 (ja) * 2003-12-17 2010-07-28 ソニー株式会社 ロボット装置、並びにロボット装置の運動制御方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1086081A (ja) 1996-07-25 1998-04-07 Honda Motor Co Ltd 脚式移動ロボットの歩容生成装置
JPH10277969A (ja) 1997-01-31 1998-10-20 Honda Motor Co Ltd 脚式移動ロボットの制御装置
EP1120203A1 (en) * 1998-04-20 2001-08-01 Honda Giken Kogyo Kabushiki Kaisha Controller for legged mobile robot
JP2000352011A (ja) 1999-06-11 2000-12-19 Gakunan Koki Kk 視覚障害者用警告形道路ラインの施工方法
WO2001087548A1 (fr) 2000-05-19 2001-11-22 Honda Giken Kogyo Kabushiki Kaisha Dispositif servant a deduire la forme du sol pour robot mobile pourvu de jambes

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP1475196A4

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7379789B2 (en) 2003-06-27 2008-05-27 Honda Motor Co., Ltd. Gait generating device of legged mobile robot and legged mobile robot controller
US7603234B2 (en) 2003-06-27 2009-10-13 Honda Motor Co., Ltd. Controller of legged mobile robot
US7734378B2 (en) 2003-06-27 2010-06-08 Honda Motor Co., Ltd. Gait generation device for legged mobile robot
US7860611B2 (en) 2003-06-27 2010-12-28 Honda Motor Co., Ltd. Control device for legged mobile robot
US8005573B2 (en) 2003-06-27 2011-08-23 Honda Motor Co., Ltd. Control device for legged mobile robot
JP2007531636A (ja) * 2004-03-31 2007-11-08 本田技研工業株式会社 角運動量の変化率に基づいて脚式ロボットを制御するためのシステム及び方法
JP2006026828A (ja) * 2004-07-16 2006-02-02 Toyota Motor Corp ロボットの動作計画方法
JP4613539B2 (ja) * 2004-07-16 2011-01-19 トヨタ自動車株式会社 ロボットの動作計画方法
US8145354B2 (en) 2005-03-30 2012-03-27 Honda Motor Co., Ltd. Systems and methods for controlling a legged robot using a two-phase disturbance response strategy

Also Published As

Publication number Publication date
KR100961901B1 (ko) 2010-06-10
EP1475196A1 (en) 2004-11-10
EP1475195A8 (en) 2006-03-08
KR100917181B1 (ko) 2009-09-15
EP1475192A4 (en) 2008-07-02
US7496428B2 (en) 2009-02-24
US7319917B2 (en) 2008-01-15
KR20040075335A (ko) 2004-08-27
US20050065646A1 (en) 2005-03-24
JPWO2003057424A1 (ja) 2005-05-19
EP1470900A1 (en) 2004-10-27
WO2003057422A1 (fr) 2003-07-17
KR20040075334A (ko) 2004-08-27
DE60236546D1 (de) 2010-07-08
EP1475195A4 (en) 2008-07-02
EP1475196B1 (en) 2010-03-31
DE60236460D1 (de) 2010-07-01
JP3640255B2 (ja) 2005-04-20
KR20040075332A (ko) 2004-08-27
KR20040075333A (ko) 2004-08-27
EP1470900A4 (en) 2008-07-02
US20050154492A1 (en) 2005-07-14
JPWO2003057426A1 (ja) 2005-05-19
KR100889598B1 (ko) 2009-03-20
JP3674789B2 (ja) 2005-07-20
EP1475192A1 (en) 2004-11-10
EP1466705B1 (en) 2010-05-19
EP1475197A4 (en) 2008-06-25
KR20040075336A (ko) 2004-08-27
KR100881609B1 (ko) 2009-02-04
EP1466705A4 (en) 2008-06-25
JP3672102B2 (ja) 2005-07-13
JP3672100B2 (ja) 2005-07-13
EP1475197B1 (en) 2009-12-16
EP1475192B1 (en) 2010-05-19
US20050055133A1 (en) 2005-03-10
JP3672103B2 (ja) 2005-07-13
EP1475195B1 (en) 2010-05-26
EP1475195A1 (en) 2004-11-10
JP3672101B2 (ja) 2005-07-13
WO2003057425A1 (fr) 2003-07-17
WO2003057429A1 (fr) 2003-07-17
US7487011B2 (en) 2009-02-03
US7308335B2 (en) 2007-12-11
EP1475197A1 (en) 2004-11-10
KR100917184B1 (ko) 2009-09-15
US7308336B2 (en) 2007-12-11
JP3674788B2 (ja) 2005-07-20
DE60236457D1 (de) 2010-07-01
WO2003057424A1 (fr) 2003-07-17
JPWO2003057423A1 (ja) 2005-05-19
WO2003057430A1 (fr) 2003-07-17
KR20040075339A (ko) 2004-08-27
EP1466706A1 (en) 2004-10-13
JPWO2003057429A1 (ja) 2005-05-19
EP1475196A4 (en) 2008-06-25
DE60237041D1 (de) 2010-08-26
KR100971473B1 (ko) 2010-07-22
DE60235839D1 (de) 2010-05-12
DE60234790D1 (de) 2010-01-28
WO2003057426A1 (fr) 2003-07-17
KR20040075338A (ko) 2004-08-27
EP1466706A4 (en) 2008-07-02
US20050115747A1 (en) 2005-06-02
EP1466705A1 (en) 2004-10-13
DE60237470D1 (de) 2010-10-07
US20050051368A1 (en) 2005-03-10
US7337039B2 (en) 2008-02-26
US20050240306A1 (en) 2005-10-27
JPWO2003057422A1 (ja) 2005-05-19
EP1466706B1 (en) 2010-08-25
US7493192B2 (en) 2009-02-17
JPWO2003057430A1 (ja) 2005-05-19
US20050021176A1 (en) 2005-01-27
EP1470900B1 (en) 2010-07-14
KR100881608B1 (ko) 2009-02-04
JPWO2003057425A1 (ja) 2005-05-19

Similar Documents

Publication Publication Date Title
WO2003057423A1 (fr) Dispositif de production de demarche pour robot se deplaçant sur des jambes
WO2003057427A1 (fr) Dispositif de commande pour robot mobile sur jambes
EP1649984A4 (en) METHOD FOR ESTIMATING MOMENT EXERCISE ON A JOINT OF A TWO-LEFT MOBILE BODY DURING THE MARKET
CN103895016B (zh) 用于控制机器人步态的方法
WO2003026746A3 (en) Man-machine interface improvement
DE60127989D1 (de) Vorrichtungen zur erzeugung von kraft und drehmoment
CA2451730A1 (en) Method of estimating floor reactions of bipedal walking body, and method of estimating joint moments of bipedal walking body
EP2206582A8 (en) Control device of legged mobile robot
EP1066793A3 (en) Motion analysis system
WO2005109879A3 (en) Free space pointing devices and method
MY144919A (en) Test handler
EP1484134A8 (en) Leg device for leg type movable robot, and method of controlling leg type movable robot
MX2007001733A (es) Juguete que responde al movimiento.
ATE513660T1 (de) Verfahren zur annahme des angriffspunkts der fussbodenreaktionskraft auf einen zweifüssigen, gehenden, beweglichen körper und verfahren zur annahme des gelenkmoments des zweifüssigen, gehenden, beweglichen körpers
KR20130078886A (ko) 보행로봇의 균형제어방법
FR2841769B1 (fr) Immobilisateur dynamique elastique pour doigts ou orteils
EP1627711A4 (en) METHOD FOR ASSUMING THE ATTACK POINT OF THE FLOOR REACTION FORCE TO A DOUBLE, GOING, MOVING BODY AND METHOD FOR ASSUMING THE TENSILE OF THE DOUBLE, GOING, MOVING BODY
GB0418978D0 (en) Motor control device
Huang et al. Modeling and analysis of passive dynamic bipedal walking with segmented feet and compliant joints
TR200300933T1 (tr) Yükseklik ayar mekanizması
Nowak et al. The role of cutaneous feedback for anticipatory grip force adjustments during object movements and externally imposed variation of the direction of gravity
Huang et al. Adding segmented feet to passive dynamic walkers
AU2003267495A8 (en) Device for fixing an object on a vertical rod
WO2022046307A3 (en) Systems and methods for personalized exercise protocols and tracking thereof
WO2009040885A1 (ja) 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

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): JP KR US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): DE FR GB

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 2003557764

Country of ref document: JP

WWE Wipo information: entry into national phase

Ref document number: 10499936

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 1020047010262

Country of ref document: KR

WWE Wipo information: entry into national phase

Ref document number: 2002806075

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 2002806075

Country of ref document: EP