WO2006025616A1 - 脚式ロボットとその制御方法ならびに歩容データの作成装置と作成方法 - Google Patents
脚式ロボットとその制御方法ならびに歩容データの作成装置と作成方法 Download PDFInfo
- Publication number
- WO2006025616A1 WO2006025616A1 PCT/JP2005/016679 JP2005016679W WO2006025616A1 WO 2006025616 A1 WO2006025616 A1 WO 2006025616A1 JP 2005016679 W JP2005016679 W JP 2005016679W WO 2006025616 A1 WO2006025616 A1 WO 2006025616A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- gait data
- data
- robot
- leg
- gait
- Prior art date
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
Definitions
- the present invention in a plurality type manner leg link two) is a technique for swingably coupled with, machinery Sir robot) a ⁇ 1 is the congregation chain part).
- a legged robot that walks by changing the relative relationship between the thigh and leg links (hereinafter sometimes simply referred to as a robot) has been developed.
- Legged robots use gait data.
- Gait data makes it possible to keep track of the foot-to-eye neuter that says ffiM ”and the time-dependent changes in foot standing. It is composed of the ISzii "Tate g ⁇ '-data etc.
- Foot 5fcf Specify the standing position that the robot's ZMP should take into account over time.
- ZMP zero moment point
- the robot will not work. In other words, in order to avoid the robot force 3 ⁇ 43 ⁇ 43 ⁇ 4, it must be within the foot of the ZMP force contact. Therefore, in consideration of the footsteps of the reception, specify the target ⁇ ⁇ ⁇ ⁇ that satisfies the following ⁇ ⁇ . That is, one leg link (for example, ilfcl rejection) is dismissed while the force is appropriate.
- the robot is equipped with a joint angle S ⁇ t arithmetic unit that calculates the joint angle of each joint by accelerating so-called inverse kinematics from gait data.
- a joint angle S ⁇ t arithmetic unit that calculates the joint angle of each joint by accelerating so-called inverse kinematics from gait data.
- the robot adjusts the joint angle of each ⁇ ⁇ to the calculated angle, according to the gait data ⁇ 1 ". If the robot follows the gait data, the actual ZMP matches the target ZMP, and the robot You can keep walking.
- the foot 5fei ⁇ ya standing can be fquel & f with the change of position over time, but the position and «and Karo 3 ⁇ 4 ⁇ are related, one of which calculates the other quantity Because it can, it can say szi with a 3 ⁇ 4t or force [] boat.
- Foot 5fei standing ⁇ ⁇ ⁇ standing age since the foot ⁇ is a rigid body, ⁇ ⁇ (standing can be placed by standing ( ⁇ can also be placed. In addition to the foot position, the foot tip ⁇ ⁇ »is included. The foot 5 1 ⁇ win» ⁇ can say ffiE-T.
- the gait data does not include the data that is ⁇ 3 ⁇ 4 ⁇ 1 ”.
- This method is an example of a method for calculating the eye position required to move the eye so that the robot does not move following the change in the foot position.
- the method of calculating the target position of the robot is not limited to this.
- Robot robot S An unexpected outer tongue ⁇ may act on the robot while hesitating according to the gait data set in advance.
- Unexpected outer tongue ⁇ may act due to unexpected unevenness of the road surface, and the robot may be able to get an external force to push and pull from the outside world. If the actual position of the robot deviates from the gait data due to the deflection of the robot structure, the backlash of the robot joints, the response delay of the robot, etc. It will be the same.
- Unexpected disturbance force has acted: ⁇ , it is not possible to continue one line according to the gait data that has been «previously».
- the gait data is kept as it is in advance, it will be frT with the joint always bent.
- the ground leg In order to be able to make corrections based on the actual heel condition, the ground leg must always be bent and extended as necessary. There is no other.
- the robot stretches the leg link group (especially the adhesive). "Move your way around”.
- This robot uses IE with gait data. For that purpose, based on the trunk tree standing of the gait data, the means for identifying the position of the leg link and the gait when the identified standing is moved in the lead direction. When the data becomes a predetermined
- the means for setting the lead mark of the female eye tree in the direction of lead since the means for setting the lead mark of the female eye tree in the direction of lead is used, a gait data that can be extended in advance with gait data that is set in advance is described. If you follow the gait data that you have entered in advance, the leg link (especially in the state where you will be able to fully extend the foot link based on the actual ⁇ ? It is necessary to further extend the leg link. * ⁇ ⁇ ⁇ While the conventional technology cannot extend the leg link any more, it is not possible to cope with it. The target position can be ifeE vertically downward just to compensate for the lack of length.
- this predetermined kite is set as a kite that can be difficult with a leg link having a finite length, it is possible to follow the gait data that has been ⁇ . If you do not extend the 3 ⁇ 41 rejection link with the gait data you have in advance, you do not have to sayiller.
- the gait data gathered in advance is the strength to keep the leg link group naturally stretched and walked.
- lead ⁇ in Satsusan means, that force s preferably les calculating the lead straight movement amount ⁇ calculated in ⁇ Jusan means ⁇ as given ⁇ .
- the above-mentioned robot selection means is that the amount of movement of the mouth and the straight movement calculated for each leg link is the amount of movement downward of the bell force s.
- the IT technique of the present invention can also be used as a method of deceiving the walking action of a legged mouth bot.
- This robot m ⁇ rrn is connected to the ⁇ rocker so that it can be swung, and the robot is equipped with a plurality of rejection links with tips at the tips. ⁇ y.
- the gait data scheduled for the robot is prepared in advance, and the gait data based on the walking state of It has a correction process.
- the gait data is further ifcEd.
- the method includes a step of calculating a vertical movement amount when «from the foot-to-eye setting of data becomes a predetermined se. In these processes, calculation is performed for each leg link. Furthermore, the process of avoiding the maximum amount of vertical movement from the vertical movement amount calculated for each leg link, the establishment of the winning gait data for the gait data, and the amount of lead movement that has been reduced by the guideline. And a step of applying ⁇ -gait data to the MIS angle group calculation device of the legged robot.
- the present invention also provides an apparatus for preparing gait data used by a legged robot in advance.
- the gait data of this gait data is connected to the gait so that it can swing, and the gait data is taught to the robot that has multiple leg links with the toes at the tip. It is used to prepare the in advance.
- This gait data is created for each leg link by means of storing a foot ⁇ (a foot-to-eye g It has a means to assume the position of the eye so that it will be able to follow the vertical direction and move it.
- the toe eye in consideration also has a means for calculating the amount of direct difficulty in the CDf mouth when the heel from the heel position becomes a predetermined heel. These means are prepared for each leg link. Furthermore, based on the amount of lead movement calculated for each leg link, the amount of lead movement observed by wisteria means to measure the maximum amount of movement vertically downward, It only has a means to lead.
- the winning target position is not a position that allows you to follow the memorized foot target position ft ⁇ -, then re-freeze the paste on the bottom. There is a means to determine.
- This device makes it possible for the legged robot to follow the foot toe target position 3 ⁇ 4 ⁇ and follow the foot-fed standing position.
- the legged robot Suppose lyre standing in the daytime.
- the leg link position is specified based on the first assumed position K position.
- the lead when the specified standing position is moved in the lead direction, the lead when the position between the position moved in the lead direction and the position where the foot-to-leg tree is stored becomes the predetermined length. Calculate the amount of movement. This amount of lead movement is calculated for each leg link.
- the body In this gait data storage, the body is placed in the direction of the trunk when the assumed trunk is placed. Without greatly changing the dynamic balance of the legged robot, the heel between the 3 ⁇ 43 ⁇ 43 ⁇ 4 of each leg link and the toe can be changed greatly.
- gait data it is possible to create gait data in which the legged robot walks while naturally extending the leg link group.
- the gait data created by this gait data butterfly placement can be used for the above-mentioned ⁇ robot, which is a diagonal chest of a legged robot;
- the robot or legged robot wholesale method requires gait data with bent leg links i to f, and can handle gait data that is tilted while the leg links are naturally stretched. That's why.
- the technical idea of the present invention can be used at the stage where the gait data is preliminarily stored. It can also be used at the stage of controlling the walking of 3 ⁇ 4 ⁇ while data is being read.
- the self-calculating means for calculating the amount of lead movement is the ability to calculate the lead-to-lead movement with the maximum length of the leg link as the predetermined length. As a result, it is possible to create gait data for walking fH "while maximizing at least one leg link of the legged mouth bot.
- the female eyes obtained by laying in the lead direction change into a glue for the past day and regulate the wrinkles. This doesn't change much, it is a smooth ⁇ curve.
- a means for sampling the trunk target position corrected in the vertical direction at predetermined intervals a means for creating a smooth thigh that traces the sampled ⁇ structure placement with a continuous curve, and the created smooth heel Power
- it is further equipped with a means to place the pregnant eyes standing vertically downward only for a predetermined job »IE, and a means to re-use the target position after re-correction The power of being a child.
- the created flat mi is more than the establishment of the maple before smoothing.
- the grid is placed further vertically downward by a predetermined length. After that, create ⁇ 3 ⁇ 4 ⁇ again.
- the technique of the present invention creates gait data: W can also be implemented.
- the gait data is created in advance by using gait data to be taught to a robot that has multiple leg links that are difficultly connected to the heel and swingable with the feet in the township. Used for ⁇ lj to prepare for.
- the target position of the red heel is not a position that allows you to follow the memorized toe eye establishment—the frT, it will repeat the change of the B It has a process to do.
- gait data construction method it is possible to create gait data in which a legged robot walks while naturally extending the leg link group.
- the gait data created during the creation of this gait data is the chest of the above-mentioned mouth bot or legged mouth bot;
- FIG. 3 is a block diagram of the configuration of the knitting device S device.
- Figure 4 shows the ends of the leg link (representing the fi positions when following the pre-assisted gait data.
- Figure 5 shows both ends of the leg link (see the standing position when following the corrected gait data.
- Fig. 6 is a diagram for explaining the amount of IE in # ⁇ position.
- Figure 7 shows both ends of the leg link when standing upright ( ⁇ standing.
- Fig. 8 is a flowchart showing the process of ffi-city equipment.
- Fig. 9 is a flowchart showing the process of standing Kg.
- FIG. 10 is a block diagram showing a configuration of gait data creation in the second embodiment.
- Figure 11 shows the data power stored in the storage device.
- Figure 13 shows the data power (in the direction of f port 3 ⁇ 43 ⁇ 4 ⁇ .
- Fig. 14 shows an osseous tract created from the sampled tract points.
- Fig. 15 shows a flat medium created from difficult points.
- the robot prepares the trunk of the gait data prepared in advance based on the actual gait state and the gait data to be stored.
- the winning target position of the gait data that has been pre-worked is set to a position that is difficult in the horizontal direction.
- Fig. ⁇ ⁇ ; ⁇ Shows a male bipedal new robot (hereinafter simply referred to as a robot) 6.
- the robot 6 is swingable with respect to win 12 and ⁇ 12; it has a fe rejection link 30 and a right leg link 40.
- the robot 6 is provided so as to be able to swing with respect to 2 12; ⁇ link 16, right arm link 18, II ⁇ 152 0, and the like.
- the £ reject link 30 is connected to left ⁇ «3 2 and lower left 3 6 and left; * di
- Joint 3 4 is a joint with a degree of freedom around one axis. It is connected to win 1 2 through s ⁇ ite ⁇ joint 3 1 of rejection link 3 0. m
- the left foot (left foot) 3 8 force s is connected to the tip of link 30 via an ankle joint 3 7.
- 3 1 is a joint with degrees of freedom around 3 axes
- the left ankle joint 37 is a joint with degrees of freedom around 2 axes.
- the right leg link 40 is configured to be a reversal link 30 and a mirror surface Mi ⁇ .
- the robot 6 has an actuator group for moving each joint.
- the actor group is selected by a later device 14.
- the robot 6 includes a sensor group for detecting the actual droop of the robot 6.
- the sensor group is, for example, an encoder for detecting a joint angle of each joint, a force voluntary sensor for detecting a motion of the trunk 12 or the like.
- the output signal of the sensor group is translated by a later control device 14.
- the walking direction of the robot 6 is the X axis
- the body side direction is the y axis
- the height direction is the z axis.
- the xy plane is the horizontal plane
- the z-axis direction is the lead drum direction.
- the gait data for the 6 robots is based on the left foot 3 8 target position and heel length B glue change, and the right foot 4 8 target position.
- the target position ⁇ is the position of ⁇ 1 2 at the representative point W position P w (x w , y w> z w )
- the posture of trunk 1 2 is the posture angle of trunk 1 2 (Roll angle, pitch angle, single angle).
- the position of the left foot 3 8 is described by the position P L (x L , y L , z L ) of the representative point L, and ⁇ of the left foot 3 8 is represented by ⁇ of the left foot 3 8 Yes.
- the right foot target position is the right foot 4 8 ( ⁇ Stand up at the position P R (x R , y R , z R ) of the representative scale, and the posture of the right foot 4 8 is the posture angle of the right foot 48.
- the data of position and are data that change values with the temple.
- FIG. 2 is a block diagram showing a functional configuration of the control device 14.
- lung wholesaler 1 4 f gait data storage device 1 1 0, gait data ffi! E ⁇ device 1 1 2 and 2 ⁇ ⁇ ⁇ ⁇ device 1 1 4, joint angle group calculation device 1 1 8, actuator chest device 1 2 0, real ⁇ il® calculation device 1 1 6 and the like.
- the leakage system 1 2 2 and various sensors 1 2 4 of the robot are not included in the components of the control device 1 4, but in order to clarify the following explanation, ing.
- the gait data storage device 110 stores the gait data that is pre-determined by the operator's equal force S.
- Gait data storage 1 1 0 The stored gait data is input to the gait data items fcE 3 1 1 2 and ⁇ ⁇ m. 1 1 4.
- i 1 4 represents the z coordinate of the trunk 1 2 corrected by the gait data compensation 1 1 2; considering the lengths of the fel rejection link 30 and the right J3 rejection link 30 . Go back to the details of standing iffig 1 1 4.
- the joint angle group calculation device 1 1 8 inputs the eye-gathering g ⁇ , the left-hand foot 3 8 foot-footing 4 8 etc. ⁇ Robots by solving so-called reverse kinematics based on standing
- the calculated joint angle group data is input to the actuator shoe wholesaler 1 1 4.
- Actuator 1 chest device 1 2 0 is a device that, based on the input “ ⁇ angle group data”, $ 1 chests of the actuator group mounted on robot 6.
- Actuator leg device 1 2 0 is the actuator. By taking a group of shoes, the robot system 1 2 2 of the robot 6 performs a ⁇ 1 action.
- the walking motion actually performed by the robot 6 is affected by an unexpected tongue, a concave surface on the road surface, and the tongue of the robot structure.
- the ⁇ movement performed by the robot 6 is detected by the sensor group 1 2 4 mounted on the robot 6.
- the gait data MS device 1 1 2 is the actual value of the mouth bot 6 calculated by the difficulty calculator 1 1 6) ⁇ 1K.
- the gait data stored in device 1 1 0 is saved.
- $ ⁇ equipment 1 4 is based on the ⁇ wisteria of robot 6 Control 6 walking movements.
- ⁇ 3 ⁇ 4position 1 1 2 first changes the target position of the left foot 3 8 and the target position of the right foot 48 based on the result of the robot 6. , Ii, corrected and corrects the tree position based on the target position and difficulty of the foot 3 8 and the target position of the right foot 48.
- ⁇ 3 ⁇ 4arrangement 1 1 2 corrects the target position of win 1 2 before i! E to move in the horizontal plane when setting the eye position of ⁇ structure 1 2.
- the z-coordinate of the screen is fixed.
- SrT moves ⁇ with a good positional force SrT.
- the position of ⁇ ⁇ ⁇ does not move much. Therefore, even if the eye setting is corrected in the horizontal direction, it is possible to verify the eye setting so that the eye goes to the target edge.
- the robot 6 ffi! E gait data based on the actual situation; W is not limited to the above method.
- the robot 6 may be equipped with a camera, and gait data may be 3 ⁇ 4E while detecting the unevenness of the front heel surface in advance.
- the robot 6 can employ various methods for correcting the obtained gait data according to 3 ⁇ 4 of 3 ⁇ 4 ⁇ .
- FIG. 3 is a block diagram showing the functional configuration of w .1 1 4. As shown in FIG. 3, mi.i 1 4 is functionally shown as follows;
- Interactive position calculation device 1 4 2 is a gait data storage device 1 1 0 force S Input previously stored gait data, and input gait data force S indication Ankle joint 3 7 Calculate the relative position ⁇ of the joint 3 1.
- FIG. 4 schematically shows the robot 6 when following the gait data stored in the gait data storage 'departure 110'.
- the gait data storage device stored in the gait data storage device 1 1 0 S indicates the position of the # 1 2 item K standing at P w .
- the target posture of 2 is D w0 (for example, a matrix that expresses Rono, pitch angle, and angle).
- the target position of the left foot 3 8 is P L 0 .
- D L 0 is the target posture for the left foot 3 8.
- the target position of the right foot 4 8 is ⁇ ⁇ ⁇ .
- the target for the right foot 4 8 is D R 0 .
- the left leg command position calculation device 1 4 2 has a target position P w of 2.
- # 1 2 goal ⁇ D w0 The memorized win 12 representative points w and; ⁇ ⁇ "
- the position of the joint 31 is also the standing position on the two sides of the feJS link 30.
- the fe rejection instruction position calculation unit 142 stores the target position P L0 of the left foot 38 and the target posture D L0 of the left foot 38 in advance, and the phase L of the representative point L of the left foot 38 and the left ankle joint 37.
- the left ankle joint 37 ( ⁇ seeks standing.
- the left ankle joint 37 ( ⁇ standing is also the heel ( ⁇ standing on the left foot 38 side of the fe rejection link 30 and Left ankle joint 37 (from Zf standing; 3 ⁇ 4 joint 3
- FIG. 5 schematically shows the robot 6 when following the gait data corrected by the gait detector 112.
- the target position of the trunk 12 indicated by the gait data after KE is P wl .
- the target posture of the trunk 12 is D wl .
- the target position of the left foot 38 is P L1 .
- the target ⁇ of the left foot 38 is D L1 .
- the target position of the right foot 48 is designated as PR1 .
- the target for the right foot 48 is D R1 .
- the gait data supplement IE equipment 112 has the ability to verify the position of the eye 12 in the position moved in the horizontal direction.
- the position P wl is the position of the twelve eye standing position P w0 before correction moved in the horizontal direction.
- the left leg pointing position calculation device 142 is a combination of the target position P wl of the trunk 12, the target D wl of ⁇ 12, the representative point w of the structure 12 that has been written in advance; Based on position M ⁇ , &&
- Az L -z L1 + (
- the corrected gait data is relative to the length of both the left leg link 30 and the right leg link 40.
- the gait data will be able to fly.
- the ⁇ amount of both legs is positive, and the amount is not calculated vertically downward. In other words, it is prohibited to IE IE 2 target position P W2 vertically upward.
- ⁇ 1 2 ( ⁇ If standing is moved in the direction of lead slh, unnaturalness appears in the walking motion, and J H "is corrected.
- Target position P W2 of trunk 1 2 is corrected vertically upward.
- the ifcE amount ⁇ z determined in the i! TE quantity determination 1 5 6 is input to the calorie difficulty 1 6 2 .
- Victory height extractor 1 5 8 extracts the Z coordinate of the post-gait data of SfS! I Ru ii 2 P wl from gait data device 1 1 2 and inputs it to force 6 2 .
- Trunk height » ⁇ 3 ⁇ 4position 1 6 4 rewrites the Z coordinate of target position P wl of ⁇ 2 describing the corrected gait data to the value input from Calo 1 6 2.
- the target position of ⁇ Structure 1 2, whose z coordinate has been rewritten, is input to the joint angle calculation unit 1 1 8.
- the 3 ⁇ 4 >> 1 position determinator 14 4 identifies the position of the following: 3 ⁇ 4 joint Cfe3 ⁇ 43 ⁇ 4) based on the trunk tree placement of the corrected gait data. ; Fel correction position decimation device 1 4 4 also identifies the left ankle joint 3 7 position based on the left foot-to-eye setting of the gait data.
- the predetermined value used there may be a heel of the joint 3 1 and the left ankle heel 37 when the gait data stored in the gait data storage device 110 is stored in advance.
- you sleep 3 4 ⁇ it may be the heel of 3 1 and the left ankle joint 3 7.
- the right Pffi correct position decimation device 1 4 4 and the right ⁇ ! SE quant decimation device 1 5 2 calculate the lead I dynamic amount of the right leg link in the same manner as above.
- the lead amount may be calculated only by retirement.
- the vertical movement amount for contact rejection is often larger in the downward direction than the vertical movement amount for solicitation. This is because the maximum ⁇ 'mouth is vertically downward, and there are many mathematically equivalent to calculating the amount of straight movement.
- step S 2 the gait data obtained in advance is recorded in the gait data “departure 110”.
- step S4 robot 6 starts walking. The robot 6 repeats the processing from step S 6 to step S 14 described below at a predetermined operation cycle.
- step S6 the actual ⁇ 1 »calculator 1 1 6 force Calculates the actual response of the robot 6 based on the outputs of the various sensors 1 2 4 mounted on the robot 6 .
- step S8 the gait data supplement 13 ⁇ 4place 1 1 2 force
- the gait data instructed in step S2 is determined based on the actual value of robot 6 calculated in step S6! To do.
- the gait data S S1 1 1 2 is the age at which the second eye is placed ii, the gait data force indicated by the S, and the f1 1 2 eye is placed on the horizontal plane SrT Then ffiE.
- the joint angle ⁇ ! Memory device 1 1 8 is the gait data corrected at step S 8 (excluding the height coordinate of the trunk 1 2) and at step S 1 0 ⁇ ⁇ ⁇ Enter the target height coordinate of the Each joint angle 0 1 (t), ⁇ 2 (t), ⁇ 3 (t) ⁇ 'is calculated by loosely kinematics.
- step S 10 of FIG. 8 With reference to FIG. 9, the process performed in step S 10 of FIG. 8 will be described in detail.
- step S 3 feJW E position calculator 1 4 4 force The gait data after correction in step S 8 is shown.
- step S 3 6 the left female mass calculation device 1 5 2 force S, the vector H L 1 calculated in step S 3 4 ⁇ IE Calculate the correction amount ⁇ z L when the length of the vector H L 2 ) is equal to the length of the vector ⁇ ⁇ 0 calculated in step S 3 2.
- the gait data after ifcE is shown.
- the distance between the 13 ⁇ 4 ankle joint 3 7 and the left hip joint 3 1 is equal to ⁇ of the ankle joint 3 7 and the left hip joint 31 shown by the pre-determined gait data. That is, the distance between both ends of the gait data force S indicated after link 30 is equal to the distance between both ends of rejection link 30 indicated by the gait data boxed in advance.
- step S 4 2 the right distance f! E quantity calculator 1 5 4 force
- step S 3 8 Calculate the i! E quantity ⁇ zp when it is equal to the length of the vector calculated in.
- step S 4 leakage 1 fertility calculator 1 5 6 force calculated in step S 3 6 f ⁇ ⁇ amount ⁇ z L related to retraction link 3 0 and right leg link 4 0 calculated in step S 4 2 From the quantity ⁇ z R , 31 ⁇ ⁇ whichever is larger vertically downward. In other words, it has a capacity to show that it will boat large vertically downward.
- step S 4 6 if the correction amount selected in step S 44 is a positive value, the selected correction amount is changed to zero. In other words, the amount of fertility that has been observed should be suitable for lead SLh. Change the correction amount to zero. That is, the amount of fertility related to the left and right leg links is both positive, and the amount of fertility that is vertically downward is not calculated.
- step S 48 the gait data force after correction in step S 8 S word S & Ru 1 2
- the vertical coordinates of the target position of the target position in step S 4 4 and S 4 6 are IfcE downward.
- Robot 6 takes gait data that has been pre-worked according to the actual job, and the corrected gait data takes into account the length of the left and right leg links 30 and 40. And hesitate. As a result, when the gait data that has been pre-beta is selected according to the actual situation, the gait data that can not be created due to the maximum length restrictions of the left and right leg links 30 and 40 can be added. E can be allowed to be. At the stage of creating gait data in advance, it is necessary to give the right and left leg links 30 and 40. Robot 6 can defeat the heel movement with the knee joint of the retraction naturally extended.
- a male example 2 for carrying out the present invention will be described with reference to the drawings.
- This difficult example is a translation of the present invention into a gait data setting.
- the gait data separation of this cat example can be used, for example, in order to create gait data for instructing the robot 6 of the male example 1 in advance.
- the gait data butterfly of the present embodiment will be described in detail, taking as an example ⁇ which creates gait data related to the robot 6 of the first embodiment in advance.
- the gait data creation device 2 0 0 of this embodiment is functionally A data device 214 and a normal data device) 3 ⁇ 4 device 220.
- the storage device 210 stores various data obtained by the operator etc. HI ".
- the storage device 210 includes the left foot target data 202, the right foot target data 204, the commendation fi ⁇ '-data 206,
- the target ZMP data 207 and the robot data 208 that has the specifications of the robot 6 can be written in. I! (Standing data 202, 204, ⁇ ⁇ ⁇ ⁇ g ⁇ '-data 206,
- the target ZMP data 207 is date paste data whose coordinates change along with the fiber time, and these data are created in advance by an operator or the like.
- the left-leg eye establishment 'ta 202 has a change in the position of the left foot 38 when the left foot 38 force contact position 38a, 38b, 38c ⁇ ⁇ is moved in order.
- the right foot tree tree ⁇ -204 describes the right foot 48 ( ⁇ the standing chronological change in standing position) when the right foot 48 force position 48a, 48b, 48c- 'is moved in order.
- the data 206 describes the daily glue change of the target position of ft 12 W of ⁇ 12, and describes $ 3 ⁇ 4SP WA (t) shown in Fig.
- the target ZMP data 207 refers to t3 ⁇ 4IZ MP (t) shown in FIG.
- the target position of the base 12 may be an impossible position for the robot 6.
- the gait data creation 200 allows the twelve eye placements of the 206 f * W data to be 3 ⁇ 4W for the robot 6.
- left foot target position data 202 force ⁇ SzEI "left foot 38 ⁇ standing 38 a, 38b, 38 c-', right foot eye If standing, right foot 48 with data 204 ( ⁇ ground position 48 Calculate the target ZMP fiber ZMP (t) based on a, 48b, 48 c- ⁇
- robot 6 will represent the 12 winning points W won by robot 6 Calculate the height position z A.
- the data 206 can be created using conventional gait data creation. It is not always necessary to place the spleen in order to satisfy the target ZMP accurately. In addition, instead of the height position ⁇ ⁇ of the representative point W when the robot 6 performs a3 ⁇ 4, a thigh at another height position may be described. Also, it is not always necessary to carry out the ⁇ data fixed in the horizontal plane.
- the key data generator 2 1 4 generates i data based on the data stored in the storage device 2 10.
- the data is the IE of the position of the ⁇ ⁇ ⁇ 2 item.
- the flat data creation unit 2 1 6 includes a sampling data creation unit 2 2 2, a music and song complementing unit 2 2 4, a data ratio 152 2 6, a sampling data ⁇ unit 2 2 8, and the like.
- the data composition ⁇ ⁇ device 2 1 4 is a standing temporary device 2 1 2; a feWii device computing device 2 4 2 Calculation device 2 4 6, staring amount calculation device 2 4 8, quantity determination device 2 5 0, height height! ⁇ 3 ⁇ 4 position 2 5 1, ZMP word arithmetic device 2 5 2, It is equipped with rigs 2 5 4
- the ⁇ ⁇ standing device 2 1 2 is a device that assumes the trunk 1 2 eye placement.
- the body-establishing device 2 1 2 assumes that the ⁇ ⁇ ⁇ ] data 2 0 6 is locked in the ⁇ ⁇ ⁇ ] Used as standing shelf value.
- the vertical position calculation device 2 4 2 inputs the left foot target position g ⁇ '— data 2 0 2 and the robot specification data 2 0 8 from the storage position 2 1 0, and the vertical position setting device 2 1 2 Enter the position of the female 1 or 2 that has been pressed. ; Fe standing calculator 2 4 2 first calculates mouth bot data 2 0 8, and calculates the relative position of representative point W of ⁇ 1 2 and heel joint 3 1. Next, the relative positions of the key representative point W and the relationship 3 1, the 1 2 eye assumed by the standing assumption device 2 1 2, the tff standing force, and the 1 2 force S are assumed as the standing position Calculate the standing of the joint 3 at the time.
- the standing calculation apparatus 2 4 2 uses the robot specification data 2 8 8 to apply the relative position between the representative point L of the left foot 3 8 and the left ankle joint 3 7.
- the relative position of the representative point L and the left ankle joint 3 7 that were grasped, and the left foot 3 8 7 Establish the left ankle joint 3 7 ⁇ when SSrT is performed according to the gr 3 ⁇ 4Pf standing calculator 2 4 2 calculates the position of the joint 3 1 and the calculated left ankle joint 3 7 ⁇ from the standing position; calculates the relative position of the left ankle joint 3 7 over the 3 ⁇ 4 joint 3 1 . That is, the standing calculation device 2 4 2 has a vector equivalent to the vector H shown in FIG. H L 1 ). Since the equivalent vector H L 1 changes over time, it becomes a function of time ( ⁇ ).
- the left testimony arithmetic unit 2 4 6 inputs the robot specification data 2 0 8 from the storage device 2 1 0 force; and from the feJS f position calculation device 2 4 2; 3 ⁇ 4 left ankle at the joint 3 1 Enter the relative position of joint 3 7 (equivalent vector H L 1 ).
- the port weight calculation device 2 4 6 first calculates the maximum length of the link 30 by using the robot specification data 20 8; If the maximum length of the left leg link 30 is made to correspond to the length of the vector H L 0 shown in Fig. 6, it will be incorrect. Next, when the z-direction component of the equivalent vector H calculated by the port position calculator 2 4 2 is corrected, the length force meter of the corrected vector (corresponding to the vector H L 2 in Fig. 6) Calculate the correction amount (corresponding to the correction amount ⁇ z L in Fig. 6) when it is equal to the calculated maximum length of the left leg link 30. This amount of f lE changes to time B 1 ⁇ 2, so it becomes a function of time (time).
- the starboard standing computer 2 4 4 has the following; The same processing as the feJWf standing computer 2 4 2 is performed on the right J3 rejection link 4 0, so that Calculate the relative position ⁇ ⁇ of the right crotch 4 1 over the right ankle joint 4 7 when the robot 6 is applied according to the right foot ⁇ K standing data 2 0 4.
- ⁇ amount determination device 2 5 0 is the number of hypothetical wins 1 2 based on the amount calculated by the left amount calculation device 2 4 6 and the right amount calculated by the right amount calculation device 2 4 8 ⁇ ⁇ g g g ⁇ g ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ g g ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ 1 5 Performs processing corresponding to 2 0
- 3 ⁇ 4 Quantity determining device 2 5 0 inputs the ⁇ amount calculated by the left ⁇ quantity deciphering device 2 4 6 and the right te * f decimation device 2 4 8, and the smaller 1
- the evidence (lead Slh ⁇ is positive) is used as the quantity ⁇ . In other words, a larger amount is adopted vertically downward.
- the height ⁇ ⁇ 3 ⁇ 4position 2 5 1 is determined by the i! TE quantity determination device 2 5 0, the height position (z coordinate) of the 1 2 eye ⁇ ⁇ assumed by i imw m2 1 2 Do as much as possible.
- the ZMP calculator 2 5 2 is based on the data stored in the storage device 2 1 0 and the position of the female 1 2 that has been fertilized at the height 2 5 1. Calculate the heel of robot 6. Then, the calculated ⁇ is compared with the target 2 data 2 0 7 force S, and the deviation is calculated. If the calculated deviation is less than or equal to the predetermined value, ⁇ m ' ⁇ im 2 5 4 indicates the position of ⁇ 1 2 input from ⁇ height ⁇ ⁇ 3 ⁇ 4position 2 5 1 force. Win $ 3 ⁇ 4 ⁇ Data Storage 254 records the location of the taught ⁇ 1 2 item. On the other hand, if the calculated deviation is greater than the predetermined value, i Height correction 2 5 1 ⁇ 1 2 eyes are placed in the standing i ⁇ S device 2 1 2 together with the calculated deviation.
- the newly installed heading H of 2 is newly input to the stationary computing device 2 4 2 and the right Jii f standing computing device 2 4 2.
- the Z coordinate is again ⁇ , and a marker that satisfies the target ⁇ is determined.
- the target ⁇ is satisfied and the left and right H-reject links 30 and 40 can be ⁇ possible 1 2 eyes; It is intended to be described in Fig. 2 5 4.
- composition data construction 2 14 repeats the above-mentioned process for all trunk positions locked in the position data 2 06 over time.
- the data word ' ⁇ ' 2 5 4 satisfies the target ZMP and the right and left leg links 3 0, 4 0 with respect to the length ⁇ 3 ⁇ 4 positive trajectory P WB (t) fffi ⁇ 3 ⁇ 41 Data power is remembered.
- ⁇ rare fiber data separation 2 1 4 produces ⁇ ⁇ $ 3 ⁇ 4 ⁇ data is stored in memory 2 1 0 (Stand-up data 2 0 can be used as gait data for robot 6 as gait data 2 0 4. Then, the robot 6 does the right leg link 3 0, 4 0 while saying it naturally, and the robot 6 makes an unexpected outer tongue ⁇ force S by the wholesaler explained in Example 1. Even if they act, they can continue to hesitate.
- Fig.13 shows the lead ZB (t) with lead data P WB (t) force.
- ⁇ ⁇ data P WB (t) force S word S l ⁇ ⁇ Z b (t) in the direction of lead E ⁇ changes discontinuously. If such trunk torso data P WB (t) is applied to the robot 6, the robot 6 m 1 2 is moved up and down on the tongue and tilted, and unnaturalness appears in the robot 6's ⁇ motion. End up.
- the bone data creation device 2 1 6 inputs the trunk trunk data P WB (t) from the trunk summary data creation device 2 1 4.
- the sampling data generation unit 222 of the smoothed trajectory data work location 216 entered! ⁇ Whom data P WB (t) Chikaraki Ru lead ⁇ Yuzuru z B (t) Power et al., One step Sampling points SP 1, SP2, SP3, ' ⁇ ' at intervals of approximately one quarter of the time ⁇
- the curve interpolation unit 224 of the smooth path data creation i 3 ⁇ 4 216 inputs the sampling data created by the sampling data creation part 222, and the path points SP1 and SP2 for sampling data are collected.
- SP3, ' ⁇ ⁇ Creates a complementary curve z E (t) that is complemented with a curve.
- first ⁇ 3 ⁇ 4 ⁇ points SP1, SP2, SP3, the '-' to create the linked auxiliary ⁇ polygonal line z c (t) in I-line performs a moving average processing on the auxiliary 3 ⁇ 4® fold line z c (t) This creates the complementary curve z E (t).
- t3 ⁇ 4 226 is the data device 214 force, 3 ⁇ 43 ⁇ 4Iz B (t) of the input data says S & Lead, and the complementary curve z E ( Compare t). Then, for example, as shown in the period M shown in FIG. 14, when a period in which the complementary curve z E (t) is positioned M ”more vertically than ⁇ z B (t) is detected, the period is expanded in the sampling data ⁇ section 228. To do.
- the sampling data ⁇ section 228 extracts the saddle point defining the period specified by the data ratio crane 226 force from the sampling data, and corrects the position of the extracted saddle point vertically downward by a predetermined distance. For example, when the section ⁇ ⁇ shown in FIG. 14 is instructed, the point S ⁇ 3 is corrected to iteE3 ⁇ 43 ⁇ 4I3 ⁇ 4S Q 3, and the position of the saddle point SP 4 is corrected to the corrected saddle point SQ 4.
- the curve interpolation section 224 again creates a complementary curve.
- the interpolation curve recreated by the curve interpolation unit 224 is compared again with ⁇ z B (t) by the data ratio ⁇ 226. If the re-created complementary curve force S trajectory z B (t) is positioned again at, the sampling data section 228 resamples the sampled data.
- the smooth data «216 is By repeating this process, the flat straight path z D (t) shown in Fig. 15 is created: SQ 1 to SQ 9 shown in Fig. 15 are the sampling patterns!
- the straight orbit z D (t) is always positioned vertically below the trunk orbit data P WB (t) force SfS ⁇ lead ⁇ z B (t).
- the smoothing data generator 216 uses a gauge for the lead direction described by the winning data P WB (t). Smooth data is created by rewriting the road (t) with the created Naohiro Hiraguchi z D (t).
- the smooth fiber decipher s / s, s / s, flat, direct leakage z D (t) draws a differentiable curve.
- the robot 6 will slide # 12 up and down with a force of ⁇ frT, and the leg link 30, 40 on the right side of the robot 6iife will stretch to a natural feeling. frT.
- the data created by the data composition unit 216 may be input to the winning data composition unit 214.
- the winning data creation / device 214 creates new female data with the target position of the rarely-determined 12 target value as a value.
- the newly created data is input to the rm3 ⁇ 43 ⁇ 4I data generator 216, and new smooth! 3 ⁇ 41 data is generated.
- gait data in which the robot 6 moves 12 smoothly while the leg links 30 and 40 are naturally stretched, and the gait data with a dynamic balance is created accurately is created. be able to.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/661,751 US20070267994A1 (en) | 2004-09-03 | 2005-09-05 | Legged Robot, Method for Controlling Legged Robot, and Device and Method for Generating Gait Data |
DE112005001917T DE112005001917T5 (de) | 2004-09-03 | 2005-09-05 | Roboter auf Beinen, Verfahren zur Steuerung eines Roboters auf Beinen und Vorrichtung und Verfahren zur Erzeugung von Gangdaten |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-257671 | 2004-09-03 | ||
JP2004257671A JP4501601B2 (ja) | 2004-09-03 | 2004-09-03 | 脚式ロボットとその制御方法ならびに歩容データの作成装置と作成方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006025616A1 true WO2006025616A1 (ja) | 2006-03-09 |
Family
ID=36000239
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/016679 WO2006025616A1 (ja) | 2004-09-03 | 2005-09-05 | 脚式ロボットとその制御方法ならびに歩容データの作成装置と作成方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20070267994A1 (ja) |
JP (1) | JP4501601B2 (ja) |
DE (1) | DE112005001917T5 (ja) |
WO (1) | WO2006025616A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101464124B1 (ko) * | 2008-06-04 | 2014-11-20 | 삼성전자주식회사 | 로봇 및 그 보행제어방법 |
US8818553B2 (en) * | 2009-12-28 | 2014-08-26 | Honda Motor Co., Ltd. | Robot control device |
KR20120069333A (ko) * | 2010-12-20 | 2012-06-28 | 삼성전자주식회사 | 로봇의 보행 제어 장치 및 그 제어 방법 |
JP5898199B2 (ja) * | 2011-07-15 | 2016-04-06 | パナソニック株式会社 | 姿勢推定装置、姿勢推定方法、および姿勢推定プログラム |
JP6228097B2 (ja) * | 2014-10-06 | 2017-11-08 | 本田技研工業株式会社 | 移動ロボット |
US10157260B2 (en) * | 2014-12-11 | 2018-12-18 | Honda Motor Co., Ltd. | Walking state estimating device and walking state estimating method |
JP7055416B2 (ja) * | 2017-02-20 | 2022-04-18 | 友樹 橋本 | 多関節ロボットにおける動作教示・再現駆動システム及び動作教示・再現駆動方法 |
CN109987169B (zh) * | 2017-12-29 | 2021-01-08 | 深圳市优必选科技有限公司 | 双足机器人的步态控制方法、装置、终端设备及介质 |
CN110920769B (zh) * | 2019-11-28 | 2020-12-15 | 深圳市优必选科技股份有限公司 | 机器人的足腰协调步态规划方法、装置、介质及机器人 |
WO2023175751A1 (ja) * | 2022-03-16 | 2023-09-21 | 株式会社ソニー・インタラクティブエンタテインメント | 制御装置、制御方法およびプログラム |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1086080A (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 |
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 |
Family Cites Families (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5355064A (en) * | 1992-03-04 | 1994-10-11 | Honda Giken Kogyo Kabushiki Kaisha | Control system for legged mobile robot |
US5337235A (en) * | 1992-03-12 | 1994-08-09 | Honda Giken Kogyo Kabushiki Kaisha | Locomotion control system for legged mobiled robot |
JP3269852B2 (ja) * | 1992-05-29 | 2002-04-02 | 本田技研工業株式会社 | 脚式移動ロボットの姿勢安定化制御装置 |
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 |
US5872893A (en) * | 1996-07-25 | 1999-02-16 | Honda Giken Kogyo Kabushiki Kaisha | Gait generation system of legged mobile robot |
WO1998004388A1 (fr) * | 1996-07-25 | 1998-02-05 | Honda Giken Kogyo Kabushiki Kaisha | Dispositif de reproduction de la demarche pour robot articule muni de jambes |
DE69734835T2 (de) * | 1996-12-19 | 2006-07-20 | Honda Giken Kogyo K.K. | Haltungskontrolleur einen sich auf beinen bewegenden robotern |
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 |
JP3655056B2 (ja) * | 1997-08-04 | 2005-06-02 | 本田技研工業株式会社 | 脚式移動ロボットの制御装置 |
US6289265B1 (en) * | 1998-04-20 | 2001-09-11 | Honda Giken Kogyo Kabushiki Kaisha | Controller for legged mobile robot |
US6266576B1 (en) * | 1998-05-11 | 2001-07-24 | Honda Giken Kogyo Kabushiki Kaisha | Legged moving robot |
JP2000153476A (ja) * | 1998-09-14 | 2000-06-06 | Honda Motor Co Ltd | 脚式移動ロボット |
JP3443077B2 (ja) * | 1999-09-20 | 2003-09-02 | ソニー株式会社 | ロボットの運動パターン生成装置及び運動パターン生成方法、並びにロボット |
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 |
TW499349B (en) * | 2000-11-17 | 2002-08-21 | Sony Corp | Legged mobile robot, leg structure of legged mobile robot, and mobile leg unit for legged mobile robot |
DE60142849D1 (de) * | 2000-11-20 | 2010-09-30 | Sony Corp | Vorrichtung und verfahren zum steuern des betriebs eines roboters mit beinen und robotervorrichtung |
JP2003136440A (ja) * | 2001-10-26 | 2003-05-14 | Tokai Univ | 移動ロボットの制動制御装置 |
JP3749946B2 (ja) * | 2002-02-07 | 2006-03-01 | 国立大学法人 東京大学 | 関節機構、それを用いた双腕ロボットおよび二足歩行ロボット |
JP3726130B2 (ja) * | 2002-02-12 | 2005-12-14 | 国立大学法人 東京大学 | バックラッシュクラッチおよびそれを具えたロボット用関節機構 |
JP3932449B2 (ja) * | 2002-06-19 | 2007-06-20 | 財団法人大阪産業振興機構 | ロボット及びロボット操作システム |
JP3729459B2 (ja) * | 2003-07-03 | 2005-12-21 | 関西ティー・エル・オー株式会社 | 二足歩行ロボット |
-
2004
- 2004-09-03 JP JP2004257671A patent/JP4501601B2/ja not_active Expired - Fee Related
-
2005
- 2005-09-05 US US11/661,751 patent/US20070267994A1/en not_active Abandoned
- 2005-09-05 DE DE112005001917T patent/DE112005001917T5/de not_active Ceased
- 2005-09-05 WO PCT/JP2005/016679 patent/WO2006025616A1/ja active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1086080A (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 |
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 |
Also Published As
Publication number | Publication date |
---|---|
US20070267994A1 (en) | 2007-11-22 |
DE112005001917T5 (de) | 2007-07-26 |
JP4501601B2 (ja) | 2010-07-14 |
JP2006068871A (ja) | 2006-03-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2006025616A1 (ja) | 脚式ロボットとその制御方法ならびに歩容データの作成装置と作成方法 | |
CN109987169B (zh) | 双足机器人的步态控制方法、装置、终端设备及介质 | |
US11318602B1 (en) | Robotic mobility device and control | |
JP5483997B2 (ja) | 脚式移動ロボットの制御装置 | |
KR101131773B1 (ko) | 이동 로봇의 보용생성장치 | |
KR100718479B1 (ko) | 로봇의 보행 제어 장치 및 보행 제어 방법 | |
JP4812426B2 (ja) | ロボット制御装置 | |
US7054718B2 (en) | Motion editing apparatus and method for legged mobile robot and computer program | |
JP5284923B2 (ja) | 脚式移動ロボットの制御装置 | |
JP6823569B2 (ja) | 目標zmp軌道の生成装置 | |
US20130079929A1 (en) | Robot and control method thereof | |
KR101234726B1 (ko) | 다리식 이동 로봇 및 그 제어 프로그램 | |
KR101140810B1 (ko) | 이동로봇의 보용생성장치 | |
KR20080102191A (ko) | 로봇과 그 제어 방법 | |
WO2014186076A1 (en) | Mobile gait force and motion analysis system | |
JP2007175809A (ja) | ロボット制御装置 | |
KR20060129423A (ko) | 이동 로봇의 보용생성장치 | |
JP4492395B2 (ja) | 脚式ロボットとその動作制御方法 | |
CN101068662B (zh) | 腿式移动机器人及其控制方法 | |
CN110920769B (zh) | 机器人的足腰协调步态规划方法、装置、介质及机器人 | |
CN116619382A (zh) | 机器人运动控制方法、系统及电子设备 | |
JP2007007803A (ja) | ロボットとその制御方法 | |
WO2022141268A1 (zh) | 一种仿人机器人控制方法、计算机设备及存储介质 | |
KR20200066971A (ko) | 상대적 움직임에 기반한 동작 인식 방법 및 장치 | |
Hugel et al. | Kinematic modeling of bird locomotion from experimental data |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KM KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU LV MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
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: 1120050019179 Country of ref document: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 11661751 Country of ref document: US |
|
RET | De translation (de og part 6b) |
Ref document number: 112005001917 Country of ref document: DE Date of ref document: 20070726 Kind code of ref document: P |
|
WWP | Wipo information: published in national office |
Ref document number: 11661751 Country of ref document: US |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 05782065 Country of ref document: EP Kind code of ref document: A1 |
|
REG | Reference to national code |
Ref country code: DE Ref legal event code: 8607 |