WO2006013778A1 - 脚式移動ロボットの制御方法 - Google Patents
脚式移動ロボットの制御方法 Download PDFInfo
- Publication number
- WO2006013778A1 WO2006013778A1 PCT/JP2005/013839 JP2005013839W WO2006013778A1 WO 2006013778 A1 WO2006013778 A1 WO 2006013778A1 JP 2005013839 W JP2005013839 W JP 2005013839W WO 2006013778 A1 WO2006013778 A1 WO 2006013778A1
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- WO
- WIPO (PCT)
- Prior art keywords
- robot
- upper body
- force
- center
- gravity
- Prior art date
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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
- 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
Definitions
- the present invention relates to a control method for a legged mobile robot, and more particularly to a control method for moving a certain object by the robot.
- Patent Document 1 Japanese Patent Application Laid-Open No. 10-230485
- the direct force component of the moment generated around the target ZMP is the resultant force of the inertial force generated by the motion of the robot and the gravity and external force acting on the robot.
- the target gait should be generated so as to satisfy the dynamic equilibrium condition that the component (horizontal component) becomes 0 (the floor reaction force acting on the center point of the target floor reaction force balances the above-mentioned combined force). ing.
- the ZMP changes suddenly due to a sudden change in the external force.
- the ZMP changes suddenly due to a sudden change in the external force.
- the support polygon is the smallest convex polygon including the contact surface of the robot.
- the work of pushing the object is started in consideration of the change in ZMP due to the reaction force acting on the robot (here, a biped robot).
- the arm's hand More generally, the part engaged with the object to push the object
- the ZMP suddenly changes when the force is applied from the robot to the object.
- the present invention has been made in view of the strong background, and when moving an object by a robot, while preventing the ZMP from greatly changing before and after the start of the movement, Disclosure of the Invention An object of the present invention is to provide a control method capable of smoothly changing the motion of a bot.
- a first invention of a legged mobile robot control method of the present invention moves an object by a legged mobile robot having a plurality of legs extending from an upper body.
- a second step of starting the movement of the object is
- an acceleration motion of the upper body of the robot is performed in order to give a motion amount (translational motion amount) to the center of gravity of the robot.
- a motion amount translational motion amount
- inertial force due to the movement of the center of gravity is generated, but force is not applied to the object from the robot! / ⁇ (the force acting on the object from the robot is 0 or almost 0) Because The object force and the reaction force received by the robot are almost zero.
- ZMP is the result of the resultant force of the inertial force generated by the motion of the robot (the motion of the center of gravity), the gravity acting on the robot, and the reaction force received by the robot from the object. A point on the floor where the horizontal component of the moment is zero.
- the robot's center of gravity has a momentum
- the predetermined part force of the robot also acts on the target, so the reaction force that the robot receives from the target It is possible to start moving the object while generating an inertial force in the opposite direction to the center of gravity of the robot (in other words, reducing the momentum of the center of gravity of the robot by the reaction force). Therefore, when the robot starts to move the object by applying a force to the object, the sum of the reaction force received by the robot from the object and the inertial force of the gravity center in the opposite direction (vector) Sum) can be reduced. Therefore, the ZMP is prevented from deviating from the support polygon or being biased to the end of the support polygon, and the ZMP is accommodated in the support polygon with a margin as in the first step. Can be.
- the robot when the object is moved, the robot is not controlled to a special posture in which the support polygon that is the range in which the ZMP can exist extends in the moving direction. Smoothly change the robot's motion while suppressing the ZMP from changing abruptly between the time the ZMP starts moving (first step) and the time after the moving starts (second step). Is possible.
- the first invention uses the momentum of the translational motion of the center of gravity of the robot, but may use the angular momentum. That is, the second invention of the control method of the legged mobile robot of the present invention provides the robot with an operation for moving the object by the legged mobile robot having a plurality of legs extending from the upper body. In the control method to be performed, in a state where the robot is opposed to the object, the upper body of the robot should move the object while preventing the force from acting on the object from the robot.
- the posture change motion of the upper body of the robot in order to give the upper body an angular momentum around the center of gravity of the robot, the posture change motion of the upper body of the robot (an upper body with angular acceleration). Tilting movement).
- an inertial force is generated due to the posture change motion of the upper body of the robot.
- the force is not applied to the object from the robot.
- the force is also zero or almost zero.
- a force is applied to a predetermined part force target of the robot in a state where the upper body of the robot has an angular momentum. It is possible to start moving the object while reducing the angular momentum around the center of gravity of the robot's upper body by the reaction force received. For this reason, when the robot starts to move the target by applying a force to the target, the target force is also applied to the moment generated around the center of gravity of the robot by the reaction force received by the robot, and the opposite direction. It is possible to reduce the sum (vector sum) with the inertial force (moment) associated with the angular acceleration (deceleration of the angular velocity) of the upper body. Therefore, avoiding ZMP from deviating from the support polygon or being biased to the end of the support polygon so that the ZMP can be accommodated within the support polygon in the same way as in the first step. can do.
- the second invention when the object is moved, a special posture in which the support polygon that is the range in which the ZMP can exist is expanded in the moving direction. Without controlling the robot at the same time, the ZMP is prevented from abruptly changing between the start of the movement of the object (first step) and the start of the movement (second step) The robot's movement can be changed smoothly.
- the first invention and the second invention are combined, and the momentum of the translational motion of the center of gravity of the robot and the upper body You may use both with angular momentum.
- the third invention of the control method of the legged mobile robot of the present invention is directed to the robot for moving the object by the legged mobile robot having a plurality of legs extending from the upper body.
- the center of gravity of the robot should be moved in the direction in which the object should be moved while the force from the robot does not act on the object.
- a second step of starting the movement of the object by applying a force to the object from a predetermined part provided on the upper body of the robot in a state where the amount and the angular momentum are provided.
- the acceleration motion of the center of gravity of the robot (translational acceleration motion) and the angular acceleration motion of the upper body are performed. It is performed in a state where the bot receives almost no reaction force.
- the ZMP fits in the support polygon, which is the smallest convex polygon including the robot's contact surface (the contact surface of the leg). Is possible.
- a force is applied to a predetermined part force target of the robot in a state where the center of gravity of the robot has a translational momentum and the upper body has an angular momentum. Therefore, as in the first and second inventions, when the robot starts to move the object by applying a force to the object, the ZMP deviates from the support polygon, The ZMP can be accommodated in the support polygon with a margin as in the case of the first step by avoiding the bias to the end of the support polygon.
- the robot when the object is moved, the robot has a special posture in which the support polygon that is the range in which the ZMP can exist extends in the moving direction.
- the ZMP does not control the abrupt change of the ZMP between the start of the movement of the object (first step) and the start of the movement (second step). It is possible to smoothly change the operation of this.
- the predetermined part is an arm body extending from the upper body.
- the arm body is provided with at least one joint capable of changing the distance between the tip portion and the upper body, at least the arm body is provided before the first step.
- a force is applied from the robot to the target by operating the joint of the arm while the tip of the arm of the robot is in contact with the target.
- the robot's upper body can be moved so that the robot does not act, and the robot's center of gravity can have a translational momentum or the upper body can have an angular momentum.
- the upper body of the robot should be brought closer to the object in order to move the object (for example, when trying to move the object by pushing the object), the upper body and the tip of the arm body It is only necessary to move the joints of the arm body so that the distance decreases.
- the step of bringing at least the tip of the arm body into contact with the object is executed in a state where the movement of the robot is stopped (fifth invention). This makes it possible to smoothly perform a series of operations including the operation of bringing the arm into contact with the object and the subsequent first step and second step.
- the first to fifth inventions are suitable when the number of the leg bodies is two, that is, when the legged mobile robot is a biped mobile robot (sixth invention).
- the movement of the object is not limited to moving the object on the floor surface, but includes movement of lifting the object from the floor surface.
- FIG. 1 is a diagram showing a schematic configuration of a legged mobile robot according to this embodiment in a side view.
- This mouth Bot 1 is a two-legged mobile robot with two legs 3, 3 extending downward from the upper body (base body) 2 and both side forces on the left and right of the upper body 2 (perpendicular to the page).
- Two extended arm bodies 4 and 4 and a head 5 supported on the upper end of the upper body 2 are provided. Since FIG. 1 is a side view, only the leg 3 and the arm 4 are shown on the right side of the robot 1 (the left leg and arm are shown in the drawing). And the right leg 3 and arm 4).
- Each leg 3 is connected to the upper body 2 via a hip joint 3a, and includes a knee joint 3b and an ankle joint 3c between the foot 6 and the hip joint 3a at the tip of the leg 3. Yes.
- These hip joint 3a, knee joint 3b and ankle joint 3c can rotate around one axis or a plurality of axes.
- the hip joint 3a can rotate around three axes
- the knee joint 3b can rotate around one axis
- the ankle joint 3c can rotate around two axes.
- the foot 6 of each leg 3 can move with 6 degrees of freedom relative to the upper body 2.
- Each arm body 4 is connected to the upper body 2 via a shoulder joint 4a, and includes an elbow joint 4b and a wrist joint 4c between the tip 7 of the arm body 4 and the shoulder joint 4a.
- These shoulder joint 4a, elbow joint 4b, and wrist joint 4c can rotate around one or more axes.
- the shoulder joint 4a can rotate around three axes
- the elbow joint 4b can rotate around one axis
- the wrist joint 4c can rotate around three axes.
- the hand 7 of each arm body 4 can move with 7 degrees of freedom with respect to the upper body 2.
- Each arm body 4 can change the distance between the tip 7 of the arm body 4 and the upper body 2 by the operation of its joints 4a, 4b, 4c.
- the arm bodies 4 and 4 correspond to predetermined portions in the present invention.
- the degree of freedom of the leg body 3 and the arm body 4, or the number of joints or the number of rotation axes of each joint does not necessarily have to be as described above, depending on the motion form that the robot 1 wants to perform. What is necessary is just to set suitably.
- the arm body 4 may include only one joint that can change the distance between the hand 7 (tip portion) and the upper body 2.
- Each joint of each leg 3 and each arm 4 is provided with a joint actuator (not shown) such as an electric motor. By driving the joint actuator, each leg 3 and And the desired movement of each arm 4 is performed.
- the upper body 2 is equipped with a control unit 10 including a microphone mouth computer and the like. The movement of each joint actuator, and hence the movement of each leg 3 and each arm 4 are controlled.
- FIG. 2 and FIG. 3 the operation control of the robot 1 when the robot 1 of the present embodiment performs an operation of moving a certain object, for example, an operation of pushing and moving the object.
- Figures 2 (a) to 2 (e) are diagrams showing the positional relationship between the object A (cart in the example shown in the figure) and the robot 1 in a time-series view, as shown in Figures 3 (a) to 3 (e).
- FIG. 4 is a diagram showing the center of gravity of the robot 1 and the horizontal plane position of the ZMP in time series corresponding to FIGS. 2 (a) to 2 (e).
- ZMP is indicated by an X mark.
- the robot 1 is opposed to the object A (the object A is present in front of the robot 1), and the hands 7 of the arms 4 and 4 7 , 7 is brought into contact with the object A.
- the hands 7 and 7 of the arms 4 and 4 do not act on the object A so that the pushing force does not act on the object A (so that the force acting on the object A from the robot 1 becomes almost 0).
- Abut (contact) In this example, the legs 1 and 2 of the robot 1 are continuously grounded in parallel with the left and right, and the robot 1 stops moving. Further, in the example described in the present embodiment, the grounding positions of the force feet 6 and 6 in which the legs 1 and 2 of the robot 1 are arranged side by side may be shifted back and forth.
- the ZMP of the robot 1 is the inertial force generated by the motion of the robot 1 (the motion of the center of gravity G), the gravity acting on the robot 1, and the reaction force that the robot 1 receives from the object A (hereinafter referred to as the target).
- the target This is the point on the floor where the horizontal component of the moment generated around that point is zero.
- the inertial force and the object reaction force are almost zero, so the point on the floor surface below the center of gravity G is the ZMP.
- FIG. 2 (c) an operation of projecting the hands 7 and 7 of both arms 4 and 4 (an operation of moving the hands 7 and 7 away from the upper body 2) is started.
- the moving speed of the upper body 2 of the robot 1 to the front is reduced while the force F is applied to the object A in the forward direction.
- the operation shown in FIG. 2 (c) corresponds to the operation of the second step in the present invention.
- a reaction force of the force F applied from the robot 1 to the object A acts on the center of gravity G from the object A.
- ZMP supports the ground contact surface of robot 1 (the contact surfaces of both feet 6 and 6). It is located near the center of the support polygon s that is not too biased at the end of the polygon s.
- the robot 1 moves to the center of the support polygon S when viewed in plan view with its center of gravity G force.
- the robot 1 is controlled to be in the posture state shown in FIG. In this case, the movement control of the leg body 3 and the arm body 4 of the robot 1 is performed so that the ZMP is positioned substantially at the center of the support polygon S as shown in FIGS. 3 (d) and 3 (e), for example. It is.
- the motion of FIGS. 2 (d) and 2 (e) is the acceleration motion of the center of gravity G (the acceleration motion of the upper body 2).
- the change in ZMP can be suppressed to be relatively small, and the ZMP can be accommodated in the support polygon with a margin. . Therefore, it is not necessary to intentionally open the legs 6, 6 of the legs 2, 2 back and forth before landing on the object A, and the robot 1 can move the object A quickly and smoothly. Can start.
- FIG. 4 is a diagram showing the center of gravity of the robot 1 and the horizontal position of the ZMP in time series corresponding to FIGS. 4 (a) to (f).
- ZMP is indicated by X.
- the robot 1 is made to face the object A (the front front of the robot 1). And the hands 7 and 7 of the arms 4 and 4 are brought into contact with the object A). In this case, the hands 7 and 7 of the arms 4 and 4 do not act on the object A so that the pushing force does not act on the object A (so that the force acting on the object A from the robot 1 becomes almost 0). Abut (contact).
- the legs 1 and 2 of the robot 1 are continuously grounded in parallel with the left and right, and the robot 1 stops moving. Further, in the example described in the present embodiment, the grounding positions of the force feet 6 and 6 in which the legs 1 and 2 of the robot 1 are arranged side by side may be shifted back and forth.
- Fig. 4 (a) The state of Fig. 4 (a) is the same as the state of Fig. 2 (a) in the first embodiment. That is, the center of gravity G of the robot 1 is almost stationary and is located above the foot 6 when viewed from the side.
- the ZMP of the robot 1 is a support polygon S including the ground contact surface of the robot 1 (the contact surfaces of both feet 6 and 6) as shown in FIG. 5 (a). Near the center of the center of gravity of G.
- the upper body 2 of the robot 1 is tilted forward (the upper body 2 approaches the object A in FIG. c) While accelerating in the direction of arrow Y3
- the legs 3 and 3 are moved so as to be tilted (actuator control of the joints 3a to 3c is performed).
- the upper body 2 has an angular momentum around the center of gravity G of the robot 1 (increases the angular movement amount).
- the arms 4 and 4 do not receive a pressing force on the object A (so that the force acting on the object A from the robot 1 becomes almost 0).
- the operation of the actuator is controlled.
- the arms 2 and 4 are moved closer to the body 2 by the forward tilting motion of the body 2 so that the hands 7 and 7 of the arms 4 and 4 are brought closer to the body 2.
- the center of gravity G of the robot 1 may not be moved, but in the example shown in the figure, it is accelerated slightly toward the front (toward the object A).
- FIG. 5 the inertial force (moment, opposite to that of the body 2 due to forward tilt (increase of angular momentum in the forward tilt direction) of the upper body 2 is shown in Fig. 5 (c).
- a broken arrow Y4 appears around the center of gravity G.
- the dashed arrow indicates the inertial force (moment) accompanying the posture tilting motion of the upper body 2.
- the direction of the inertial force is the forward tilt direction of the upper body 2 when the direction of the broken arrow is forward, and the backward tilt direction of the upper body 2 when the direction of the broken arrow is backward. It is assumed that
- the center of gravity G of the robot 1 is also slightly accelerated forward as described above, so that the inertial force of the center of gravity G is as shown by the arrow Y5 in Fig. 5 (c). Occurs in the rearward direction.
- the object reaction force received by the robot 1 is almost zero.
- ZMP moves to the rear side of the support polygon S as shown in FIG.
- the forward tilting motion of the upper body 2 of the robot 1 is performed so that the ZMP is within the support polygon S and does not change suddenly.
- the robot 1 causes the upper body 2 to have an angular momentum (angular momentum in the forward tilt direction) around the center of gravity G, and the center of gravity G does not move as shown in Fig. 4 (c). It has a forward momentum (translational momentum).
- the operation of FIG. 4 (c) corresponds to the operation of the first step in the second invention or the third invention.
- FIG. 4 (d) an operation of projecting the hands 7 and 7 of both arms 4 and 4 (an operation of moving the hands 7 and 7 away from the upper body 2) is started. While the object A is directed forward and the force F is applied, the angular momentum of the upper body 2 of the robot 1 toward the forward tilt side is decreased (the tilt speed of the upper body 2 is reduced). At this time, the movement speed of the robot 1 toward the front of the center of gravity G is also reduced. Thereby, the operation of pushing the object A forward of the robot 1 is started.
- the operation of FIG. 4 (d) corresponds to the operation of the second step in the second invention or the third invention.
- an inertial force (moment) is generated in the upper body 2 of the robot 1 in the forward tilt direction as shown by the broken arrow Y6 in FIG. 5 (d).
- An inertial force (translational inertial force) is generated in front of the robot 1, as indicated by an arrow Y7 in FIG. 5 (d).
- ZMP is near the center of the support polygon S without being too biased to the end of the support polygon S including the contact surface of the robot 1 (the contact surfaces of both feet 6 and 6) as shown in Fig. 5 (d).
- the object A as shown in FIG. 4 (e) self-runs and leaves the robot 1.
- the robot 1 is returned to the vertical posture as shown in FIGS.
- the center of gravity G is controlled to move substantially to the center of the support polygon S when viewed in plan, and finally to the posture state of the robot 1 shown in FIG. 4 (f).
- the movement control of the leg body 3 and the arm body 4 of the robot 1 is performed so that the ZMP is positioned almost at the center of the support polygon S as shown in FIGS. 5 (e) and 5 (f), for example. .
- the operation of the robot 1 described above (the operation of pressing and moving the object A)
- the ZMP change is suppressed to a relatively small one. It can be accommodated in the support polygon with a margin. Therefore, as in the first embodiment, the object by the robot 1 that does not have to intentionally open and close the feet 6 and 6 of the legs 2 and 2 before and after starting to push the object A. A's moving work can be started quickly and smoothly.
- a momentum can also be generated in the center of gravity G of the robot 1.
- a momentum can also be generated in the center of gravity G of the robot 1.
- the force that causes the hands 7 and 7 of the arm bodies 4 and 4 to come into contact with the object A before the object A is pushed and moved may be brought into contact with the object A while moving the upper body 3 so that the upper body 2 has an angular momentum.
- the present invention can also be applied to the case where the force object A is pulled and moved by taking the case where the object A is pushed and moved as an example.
- the center of gravity G of the robot 1 before applying the pulling force to the object A, the center of gravity G of the robot 1 has a momentum on the rear side, or the upper body 2 so that the upper body 2 of the robot 1 has an angular momentum on the backward tilt side. It is only necessary to accelerate 2 backward or backward and then apply a pulling force from robot 1 to object A.
- the present invention can also be applied to the case where the object is lifted by the robot 1.
- the force in the lifting direction is not applied to the object.
- the posture of the upper body 2 of the robot 1 is caused to accelerate toward the vertical posture. This makes the robot 1 An angular momentum in the backward tilt direction is generated in the upper body 2 of.
- a force in the lifting direction is applied to the object from the arm bodies 4 and 4, and the object is moved using the angular momentum. Just lift it up.
- the present invention is applicable to a case where a legged mobile robot such as a bipedal mobile robot performs various operations such as pushing, moving, pulling, or lifting various objects. This is useful for ensuring the stability of the posture of the robot before and after the start of the movement of the object.
- FIG. 1 is a diagram showing a biped mobile robot as a legged mobile robot in a first embodiment of the present invention in a side view.
- FIGS. 2 (a) to 2 (e) are diagrams showing the positional relationship between the object and the robot in the first embodiment in a time series view.
- FIGS. 3 (a) to 3 (e) are diagrams showing the center of gravity of the robot 1 and the horizontal position of the ZMP in the first embodiment in time series corresponding to FIGS. 2 (a) to (e), respectively. .
- FIGS. 4 (a) to 4 (f) are diagrams showing the positional relationship between the object and the robot in the second embodiment in a time series view.
- Figs. 3 (a) to (f) are diagrams showing the center of gravity of the robot 1 and the horizontal position of the ZMP in the second embodiment in time series corresponding to Figs. 2 (a) to (f), respectively. .
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- Manipulator (AREA)
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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KR1020067026927A KR101262690B1 (ko) | 2004-08-02 | 2005-07-28 | 다리식 이동 로봇의 제어방법 |
US11/572,541 US8793015B2 (en) | 2004-08-02 | 2005-07-28 | Control method for legged mobile robot |
JP2006531427A JP4828424B2 (ja) | 2004-08-02 | 2005-07-28 | 脚式移動ロボットの制御方法 |
EP05767080A EP1798005B1 (en) | 2004-08-02 | 2005-07-28 | Control method of leg type moving robot |
DE602005016580T DE602005016580D1 (de) | 2004-08-02 | 2005-07-28 | Steuerverfahren für schreitroboter |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2004-225663 | 2004-08-02 | ||
JP2004225663 | 2004-08-02 |
Publications (1)
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WO2006013778A1 true WO2006013778A1 (ja) | 2006-02-09 |
Family
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PCT/JP2005/013839 WO2006013778A1 (ja) | 2004-08-02 | 2005-07-28 | 脚式移動ロボットの制御方法 |
Country Status (7)
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US (1) | US8793015B2 (ja) |
EP (1) | EP1798005B1 (ja) |
JP (1) | JP4828424B2 (ja) |
KR (1) | KR101262690B1 (ja) |
CN (1) | CN100540237C (ja) |
DE (1) | DE602005016580D1 (ja) |
WO (1) | WO2006013778A1 (ja) |
Cited By (1)
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US20170304365A1 (en) * | 2011-06-27 | 2017-10-26 | Emory University | Compositions, uses, and preparation of platelet lysates |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4552037B2 (ja) * | 2007-12-10 | 2010-09-29 | 本田技研工業株式会社 | ロボット |
JP5208649B2 (ja) * | 2008-09-29 | 2013-06-12 | 本田技研工業株式会社 | 移動装置 |
US20120283746A1 (en) * | 2011-05-02 | 2012-11-08 | Hstar Technologies | Mobile Medical Robotic System |
CN103042525B (zh) * | 2013-01-22 | 2016-04-13 | 北京理工大学 | 一种确定仿人机器人的抗扰动能力的方法 |
US9820137B2 (en) | 2013-05-08 | 2017-11-14 | J. Carl Cooper | Location-based, radio-device identification apparatus and method |
CN110328689B (zh) * | 2019-07-09 | 2021-01-08 | 达闼科技(北京)有限公司 | 机器人平衡检测方法、装置、设备及机器人 |
US11383381B2 (en) * | 2019-08-06 | 2022-07-12 | Boston Dynamics, Inc. | Footstep contact detection |
US11891288B2 (en) | 2021-10-28 | 2024-02-06 | Toyota Research Institute, Inc. | Sensors having a deformable layer and a rugged cover layer and robots incorporating the same |
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JPH10230485A (ja) * | 1996-12-19 | 1998-09-02 | Honda Motor Co Ltd | 脚式移動ロボットの姿勢制御装置 |
JP2003326483A (ja) * | 2002-05-01 | 2003-11-18 | Honda Motor Co Ltd | 移動ロボットの姿勢制御装置 |
JP2004209614A (ja) * | 2003-01-08 | 2004-07-29 | National Institute Of Advanced Industrial & Technology | 脚式移動ロボット及び制御方法 |
Family Cites Families (2)
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US7072740B2 (en) * | 2002-12-16 | 2006-07-04 | Sony Corporation | Legged mobile robot |
JP4735927B2 (ja) * | 2004-06-28 | 2011-07-27 | 独立行政法人産業技術総合研究所 | 人間型ロボットの制御装置 |
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2005
- 2005-07-28 JP JP2006531427A patent/JP4828424B2/ja not_active Expired - Fee Related
- 2005-07-28 CN CNB2005800192867A patent/CN100540237C/zh not_active Expired - Fee Related
- 2005-07-28 KR KR1020067026927A patent/KR101262690B1/ko active IP Right Grant
- 2005-07-28 US US11/572,541 patent/US8793015B2/en not_active Expired - Fee Related
- 2005-07-28 WO PCT/JP2005/013839 patent/WO2006013778A1/ja active Application Filing
- 2005-07-28 EP EP05767080A patent/EP1798005B1/en not_active Expired - Fee Related
- 2005-07-28 DE DE602005016580T patent/DE602005016580D1/de active Active
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US8793015B2 (en) | 2014-07-29 |
CN1968789A (zh) | 2007-05-23 |
KR101262690B1 (ko) | 2013-05-15 |
DE602005016580D1 (de) | 2009-10-22 |
JP4828424B2 (ja) | 2011-11-30 |
EP1798005B1 (en) | 2009-09-09 |
EP1798005A1 (en) | 2007-06-20 |
JPWO2006013778A1 (ja) | 2008-05-01 |
CN100540237C (zh) | 2009-09-16 |
US20070260354A1 (en) | 2007-11-08 |
EP1798005A4 (en) | 2008-04-16 |
KR20070032706A (ko) | 2007-03-22 |
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