WO2003057425A1 - Dispositif de production de demarche pour robot se deplaçant sur des jambes, et dispositif de commande - Google Patents

Dispositif de production de demarche pour robot se deplaçant sur des jambes, et dispositif de commande Download PDF

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Publication number
WO2003057425A1
WO2003057425A1 PCT/JP2002/013596 JP0213596W WO03057425A1 WO 2003057425 A1 WO2003057425 A1 WO 2003057425A1 JP 0213596 W JP0213596 W JP 0213596W WO 03057425 A1 WO03057425 A1 WO 03057425A1
Authority
WO
WIPO (PCT)
Prior art keywords
vertical component
robot
type movable
leg type
movable robot
Prior art date
Application number
PCT/JP2002/013596
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 DE60236457T priority Critical patent/DE60236457D1/de
Priority to JP2003557766A priority patent/JP3672102B2/ja
Priority to KR1020047010281A priority patent/KR100917181B1/ko
Priority to EP02806079A priority patent/EP1466705B1/en
Priority to US10/499,909 priority patent/US7493192B2/en
Publication of WO2003057425A1 publication Critical patent/WO2003057425A1/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/JP2002/013596 2001-12-28 2002-12-26 Dispositif de production de demarche pour robot se deplaçant sur des jambes, et dispositif de commande WO2003057425A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE60236457T DE60236457D1 (de) 2001-12-28 2002-12-26 Gangerzeugungsvorrichtung für beweglichen roboter mit beinen und steuervorrichtung
JP2003557766A JP3672102B2 (ja) 2001-12-28 2002-12-26 脚式移動ロボットの歩容生成装置及び制御装置
KR1020047010281A KR100917181B1 (ko) 2001-12-28 2002-12-26 다리식 이동로봇의 보용 생성 장치 및 제어 장치
EP02806079A EP1466705B1 (en) 2001-12-28 2002-12-26 Gait producing device for leg type movable robot, and control device
US10/499,909 US7493192B2 (en) 2001-12-28 2002-12-26 Gait producing device for leg type movable robot, and control device

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
WO2003057425A1 true WO2003057425A1 (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 (2)

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

Family Applications After (4)

Application Number Title Priority Date Filing Date
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

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)

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WO2003090978A1 (fr) 2002-04-26 2003-11-06 Honda Giken Kogyo Kabushiki Kaisha Dispositif de commande d'un robot mobile dote de jambes
US6963185B2 (en) 2002-04-26 2005-11-08 Honda Giken Kogyo Kabushiki Kaisha System for estimating attitude of leg type moving robot itself
JP2006026828A (ja) * 2004-07-16 2006-02-02 Toyota Motor Corp ロボットの動作計画方法
JP2006247769A (ja) * 2005-03-09 2006-09-21 Toyota Motor Corp 脚式ロボットとその動作制御方法
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
US7835822B2 (en) 2005-03-30 2010-11-16 Honda Motor Co., Ltd. Systems and methods for controlling a legged robot using a two-phase disturbance response strategy
US8060253B2 (en) * 2004-03-31 2011-11-15 Honda Motor Co., Ltd. Systems and methods for controlling a legged robot based on rate of change of angular momentum

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US6963185B2 (en) 2002-04-26 2005-11-08 Honda Giken Kogyo Kabushiki Kaisha System for estimating attitude of leg type moving robot itself
WO2003090978A1 (fr) 2002-04-26 2003-11-06 Honda Giken Kogyo Kabushiki Kaisha Dispositif de commande d'un robot mobile dote de jambes
US7337040B2 (en) 2002-04-26 2008-02-26 Honda Giken Kogyo Kabushiki Kaisha Self-position estimating device for leg type movable robots
EP2206584A1 (en) 2003-06-27 2010-07-14 Honda Motor Co., Ltd. Control device of legged mobile robot
EP2353794A1 (en) 2003-06-27 2011-08-10 Honda Motor Co., Ltd. Gait generating device of legged mobile robot and control device of legged mobile robot
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
US8005573B2 (en) 2003-06-27 2011-08-23 Honda Motor Co., Ltd. Control device for legged mobile robot
EP2353795A1 (en) 2003-06-27 2011-08-10 Honda Motor Co., Ltd. Gait generating device of legged mobile robot and control device of legged mobile robot
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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
JP2006026828A (ja) * 2004-07-16 2006-02-02 Toyota Motor Corp ロボットの動作計画方法
JP2006247769A (ja) * 2005-03-09 2006-09-21 Toyota Motor Corp 脚式ロボットとその動作制御方法
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
US7835822B2 (en) 2005-03-30 2010-11-16 Honda Motor Co., Ltd. Systems and methods for controlling a legged robot using a two-phase disturbance response strategy
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

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EP1475196A1 (en) 2004-11-10
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EP1475192A4 (en) 2008-07-02
US7496428B2 (en) 2009-02-24
US7319917B2 (en) 2008-01-15
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US20050065646A1 (en) 2005-03-24
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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
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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
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EP1466705A4 (en) 2008-06-25
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EP1475195A1 (en) 2004-11-10
JP3672101B2 (ja) 2005-07-13
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
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EP1466706A1 (en) 2004-10-13
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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
WO2003057423A1 (fr) 2003-07-17
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EP1466706B1 (en) 2010-08-25
US7493192B2 (en) 2009-02-17
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US20050021176A1 (en) 2005-01-27
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