WO2003078110A1 - Robot, controleur de robot a jambes et procede correspondant, systeme de capteurs pour robot a jambes, et appareil locomoteur - Google Patents
Robot, controleur de robot a jambes et procede correspondant, systeme de capteurs pour robot a jambes, et appareil locomoteur Download PDFInfo
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- WO2003078110A1 WO2003078110A1 PCT/JP2003/003228 JP0303228W WO03078110A1 WO 2003078110 A1 WO2003078110 A1 WO 2003078110A1 JP 0303228 W JP0303228 W JP 0303228W WO 03078110 A1 WO03078110 A1 WO 03078110A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- gravity
- center
- mobile robot
- acceleration sensor
- legged mobile
- Prior art date
Links
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP03710407A EP1486298B1 (en) | 2002-03-18 | 2003-03-18 | Robot device with an control device. |
KR1020047014643A KR101004820B1 (ko) | 2002-03-18 | 2003-03-18 | 이동체 장치, 이동체 장치의 제어 방법, 로봇 장치, 로봇 장치의 동작 제어 방법 |
US10/508,062 US7881824B2 (en) | 2002-03-18 | 2003-03-18 | System and method of controlling a legged locomotion robot |
DE60336992T DE60336992D1 (de) | 2002-03-18 | 2003-03-18 | Robotereinrichtung mit steuerverfahren |
US12/883,615 US8612052B2 (en) | 2002-03-18 | 2010-09-16 | Robot device, movement controlling apparatus and method for legged locomotion robot, sensor system for legged locomotion robot, and mobile unit |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002073498 | 2002-03-18 | ||
JP2002-73498 | 2002-03-18 | ||
JP2002297207 | 2002-10-10 | ||
JP2002-297207 | 2002-10-10 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10508062 A-371-Of-International | 2003-03-18 | ||
US12/883,615 Division US8612052B2 (en) | 2002-03-18 | 2010-09-16 | Robot device, movement controlling apparatus and method for legged locomotion robot, sensor system for legged locomotion robot, and mobile unit |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003078110A1 true WO2003078110A1 (fr) | 2003-09-25 |
Family
ID=28043744
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/003228 WO2003078110A1 (fr) | 2002-03-18 | 2003-03-18 | Robot, controleur de robot a jambes et procede correspondant, systeme de capteurs pour robot a jambes, et appareil locomoteur |
Country Status (6)
Country | Link |
---|---|
US (2) | US7881824B2 (ja) |
EP (3) | EP2298506B1 (ja) |
KR (2) | KR100959472B1 (ja) |
CN (3) | CN1649698A (ja) |
DE (1) | DE60336992D1 (ja) |
WO (1) | WO2003078110A1 (ja) |
Cited By (5)
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EP1695799A1 (en) * | 2003-11-27 | 2006-08-30 | HONDA MOTOR CO., Ltd. | Control device for mobile body |
CN100406210C (zh) * | 2004-08-11 | 2008-07-30 | 索尼株式会社 | 控制机器人装置的操作的设备和方法 |
JP2014522741A (ja) * | 2011-08-04 | 2014-09-08 | アルデバラン ロボティクス | 可変剛性の接合を有するロボットおよび最適化剛性の計算方法 |
CN104434124A (zh) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | 一种人体下肢步态数据采集系统 |
CN113552880A (zh) * | 2021-07-14 | 2021-10-26 | 中国北方车辆研究所 | 一种双足轮式机器人平衡控制方法 |
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KR100835361B1 (ko) * | 2003-08-29 | 2008-06-04 | 삼성전자주식회사 | 간이 지면반력 센서를 이용한 보행 로봇 및 그 제어 방법 |
US20050053909A1 (en) * | 2003-09-08 | 2005-03-10 | Chan Kwok Hung | Learn-and-play programming method for motorized toys and domestic appliances |
KR100543709B1 (ko) * | 2003-12-23 | 2006-01-20 | 삼성전자주식회사 | 이동체의 회전 이동량 이용 방법과 장치 및 컴퓨터프로그램을 저장하는 컴퓨터로 읽을 수 있는 기록 매체 |
JP4971977B2 (ja) * | 2004-03-31 | 2012-07-11 | 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 |
KR100709556B1 (ko) * | 2005-10-19 | 2007-04-20 | 한국과학기술연구원 | 인간형 로봇의 보행 제어 방법 |
JP4456560B2 (ja) * | 2005-12-12 | 2010-04-28 | 本田技研工業株式会社 | 脚式移動ロボット制御装置および脚式移動ロボット、並びに、脚式移動ロボット制御方法 |
JP4456561B2 (ja) * | 2005-12-12 | 2010-04-28 | 本田技研工業株式会社 | 自律移動ロボット |
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Also Published As
Publication number | Publication date |
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KR100959472B1 (ko) | 2010-05-25 |
EP2305436B1 (en) | 2015-10-28 |
US7881824B2 (en) | 2011-02-01 |
EP1486298B1 (en) | 2011-05-04 |
EP1486298A1 (en) | 2004-12-15 |
KR20040111417A (ko) | 2004-12-31 |
US20050240307A1 (en) | 2005-10-27 |
EP2305436A1 (en) | 2011-04-06 |
DE60336992D1 (de) | 2011-06-16 |
CN101763118B (zh) | 2015-09-02 |
US20110077775A1 (en) | 2011-03-31 |
KR101004820B1 (ko) | 2010-12-28 |
CN1649698A (zh) | 2005-08-03 |
CN101763118A (zh) | 2010-06-30 |
EP1486298A4 (en) | 2008-10-22 |
EP2298506B1 (en) | 2013-09-11 |
EP2298506A1 (en) | 2011-03-23 |
KR20100018103A (ko) | 2010-02-16 |
CN101745910B (zh) | 2014-11-05 |
US8612052B2 (en) | 2013-12-17 |
CN101745910A (zh) | 2010-06-23 |
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