WO2013012189A2 - 로봇의 주행면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 - Google Patents
로봇의 주행면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 Download PDFInfo
- Publication number
- WO2013012189A2 WO2013012189A2 PCT/KR2012/005307 KR2012005307W WO2013012189A2 WO 2013012189 A2 WO2013012189 A2 WO 2013012189A2 KR 2012005307 W KR2012005307 W KR 2012005307W WO 2013012189 A2 WO2013012189 A2 WO 2013012189A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- triangles
- area
- angle
- traveling
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 239000013598 vector Substances 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
- B63B59/08—Cleaning devices for hulls of underwater surfaces while afloat
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Definitions
- the present invention relates to a method for checking a traveling surface traveling area of a robot, a robot, and a recording medium.
- the geometric model of the driving surface for example, the hull surface
- the curvature continuity (C2 continuous) between the surfaces is required for curvature analysis.
- C2 continuity is broken during loading of the design geometries for the processing of the design geometries.
- the curvature is not suitable for use as a criterion for determining the driving range since the value of the curvature varies with direction.
- An embodiment of the present invention is to check the driving range of the robot traveling on the running surface To provide a method, a robot and a recording medium.
- a method for identifying a runnable area for a robot to autonomously drive a curved running surface includes: a) forming a geometric model of the running surface divided into a plurality of curved surfaces; step; b) dividing the plurality of curved surfaces into a plurality of triangles using the geometric model; c) calculating an angle of each of the plurality of triangles with adjacent triangles; And d) determining whether the angle is within a predetermined range.
- each of the plurality of triangles may be substantially planar.
- step b) may be divided into a plurality of triangles so as to share corners and vertices with adjacent triangles in the curved surface.
- an angle between adjacent triangles may be calculated by sharing corners or vertices.
- the angle between the edge and the corner, the corner and the vertex, or the triangle where the vertex and the vertex meets is determined.
- step d), e) when the angle is within a predetermined range may further include a step of identifying a primary travelable region that defines the driving region.
- the angle may be calculated from an angle between normal vectors of adjacent triangles.
- the robot is set to have a predetermined size, and the robot is driven to the travelable area so that the robot does not cross the running surface.
- the method may further include a step of confirming that the second driveable region is defined as.
- a built-in program for executing the running surface running area checking method of the robot, or a robot that runs on the running surface controlled from an external device in which the program is embedded Is provided.
- a program for executing the running surface traveling area confirmation method of the robot is recorded and a computer-readable recording medium is provided.
- FIG. 1 is a flowchart illustrating a method for checking a driving surface traveling area of a robot according to an embodiment of the present invention.
- 2A is a view showing a geometric model formed on a part of the hull.
- FIG. 2B illustrates a triangular mesh generated by triangulating the geometric model of FIG. 2A.
- FIG. 3A is a partially enlarged view illustrating a boundary edge between a curved surface and a curved surface in the geometric model of FIG. 2A.
- FIG. 3B is a diagram illustrating a triangular mesh generated by triangulating the curved surface of FIG. 3A.
- FIG. 4 is a diagram for describing a method of measuring an angle between neighboring triangular meshes in a state where a triangular mesh is generated.
- FIG. 5 is a diagram illustrating a triangle inside a triangular mesh.
- FIG. 6 is a diagram illustrating a triangle at the boundary of the triangular mesh.
- FIG. 1 is a flowchart illustrating a method for checking a driving surface traveling area of a robot according to an exemplary embodiment of the present invention.
- the method for identifying a traveling surface movable area of a robot may include calculating a geometric model generation step (S101), a mesh generation step (S102), and an angle between neighboring triangles.
- a step S103, a step S104 of checking the first driveable area, a step S105 of checking the intersection of the robot and the running surface, and a step S106 of checking the second driveable area may be included.
- a geometric model of a hull curved surface is generated using a program such as a 3D CAD.
- FIG. 2A shows a geometric model 2 of a part of the hull curved surface generated by the CAD program.
- the triangulation of each curved surface of the hull is performed on the curved surface of the hull using the geometric model (2) of the hull curved surface generated as described above.
- FIG. 2B shows a triangulation of the geometric model 2 shown in FIG. 2A to produce a triangular mesh 4 for the hull curved surface.
- the triangular mesh for each curved surface includes a plurality of triangles which know the positional information and the adjacent relationship for each edge and vertex. .
- the entire hull model can be converted into a single triangular mesh. It can be assumed that the division between curved surfaces to be formed disappears, and only one triangular mesh is formed for the hull.
- the hull geometry model does not have adjacent information between neighboring surfaces. Otherwise, one triangular mesh is created for each curved surface, and no vertex and edge are shared between neighboring triangular meshes.
- FIG. 3A illustrates a portion of a corner of a curved surface formed by a geometric model
- FIG. 3B illustrates a state in which a triangular mesh is formed for each curved surface by triangulating FIG. 3A.
- FIG. 3A illustrates one edge 130 of the hull geometry model.
- the left curved surface 110 and the right curved surface 120 meet each other around the edge 130. Even if it is formed, if it does not have information about the edge 130 ⁇ If the triangular mesh is formed using the left curved surface 110 and the right curved surface 120 as shown in Figure 3b
- the triangles in the opposing triangular mesh form triangles with no nodes shared at their edges 130.
- the triangle 112 at which the node 112a is positioned on the edge 130 and the triangular formed corresponding to the right curved surface The triangle 122 in which the node 122a is positioned on the edge 130 among the triangles in the mesh has a common node when adjacent information, that is, information of the edge 130 is shared, but information of the edge 130 is not included. If not shared, they are formed to have different nodes as shown in FIG. 3B.
- each curved surface forms a triangular mesh, and thus, the relationship between the triangles inside each of the triangular meshes and the triangles between neighboring triangular meshes. In consideration of the calculation of the driving surface travelable area.
- the angle between the triangles refers to the angle formed by the surface formed by one triangle and the surface formed by the neighboring triangles based on the corners or vertices shared between the neighboring triangles.
- the angle between these triangles can be calculated using the normal vector of one triangle and neighboring triangles.
- the calculation of the angle between the faces of neighboring triangles with one edge between them can be easily calculated using a well-known calculation method. Since the calculation method can be a detailed description thereof will be omitted.
- the triangle may be defined as the driving block area.
- FIG. 4 For example, in FIG. 4, three second to fourth triangles 20, 30, and 40 adjacent to each other based on the first triangle 10 and normal vectors 11, 21, and 31 of each triangle are shown. 41 is shown.
- the angle formed by the first triangle 10 and the second to fourth triangles 20, 30, and 40 is 190 degrees, 185 degrees, and 120 degrees, respectively
- the allowable range for the robot to travel is 135-225.
- the first triangle 10 has an angle with the fourth triangle 40 outside of the allowable travel range. Therefore, the first triangle 10 becomes a non-driving area in which the robot cannot run.
- a triangle located in a triangular mesh may be classified into two cases, a triangle inside a mesh and a triangle at a mesh boundary.
- 5 shows a plurality of triangles 501, 502, 503, 504 located inside the mesh.
- the dotted lines 511, 521, and 531 inside the triangle are the centers of the respective triangles.
- the core 501c of the triangle 501 is formed by the line segments 511, 521, and 531 connected to the centers 502c, 503c, and 504c of the three triangles 502, 503, and 504. It becomes a vertex to meet.
- adjacent triangles can be directly found by using such adjacent relationship information, and angles between adjacent triangles can be easily calculated.
- the triangle 601 at the boundary of the triangular mesh forms an adjacent relationship with two triangles 602 and 603 in the same mesh. That is, when connecting the core 601c of the triangle 601 at the boundary 800 of the triangular mesh in FIG. 6 with the core of the triangles 602 and 603 inside the same mesh, only two line segments 621 and 631 are provided. Have.
- the triangle 601 at the boundary 800 of the triangular mesh may form an adjacent relationship with the triangles 701 and 702 with the triangle in the neighboring mesh.
- one mesh does not store adjacency relation information with triangles in neighboring meshes.
- information about the position of a triangle within one mesh eg position information of vertices and three sides, and information of other triangles inside neighboring triangle meshes, eg vertices and 3 Distance between two triangles using side position information can be calculated.
- the triangles at the boundary of the triangular mesh calculate distances between the triangles to determine whether the triangles are adjacent to each other, and when the angles are outside the robot's allowable range, the triangles are defined as non-driving areas. do.
- the robot travelable area is first calculated by determining whether the triangles in all the triangle meshes are capable of traveling or not.
- cross inspection between the robot and the driving surface is performed to find the driving area in consideration of the size of the robot.
- the robot capable of driving the driving surface is simplified, for example, in the form of a box having lm X lm X lm horizontal, vertical and height, and then the robot is primarily on a hull surface represented by a triangular mesh.
- the box-shaped robot intersects the running surface while moving over the triangle calculated as the driving range.
- the robot when the robot intersects the running surface, it may be determined that the robot collides with the hull surface when the robot moves on the running surface. Accordingly, when it is determined that the robot intersects with the driving surface as described above during the cross-check between the robot and the driving surface, the triangle in which the robot is located is excluded from the driving possible region.
- the angle relationship between triangles in the triangular mesh is calculated first.
- the robot can drive the robot, and the robot can move the robot's driving area.
- the robot can then cross-check the driving surface and finally the robot's running area. By judging, it is possible to accurately identify the travelable area in which the robot can move on the travel surface.
- the robot travels on the hull surface of the ship, but the traveling surface on which the robot travels is The present invention is not limited thereto, and any surface capable of traveling by the robot may identify a driving possible area through a method for checking a range in which the robot can run according to an embodiment of the present invention.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Instructional Devices (AREA)
- Numerical Control (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP12814854.1A EP2732935B1 (en) | 2011-07-15 | 2012-07-04 | Method for checking a travelable area of a plane of travel for a robot, robot and recording medium |
JP2014521545A JP5885003B2 (ja) | 2011-07-15 | 2012-07-04 | ロボットの走行面走行可能領域確認方法、ロボット及び記録媒体 |
NO12814854A NO2732935T3 (ko) | 2011-07-15 | 2012-07-04 | |
US14/232,875 US20140163732A1 (en) | 2011-07-15 | 2012-07-04 | Method for checking a travelable area of a plane of travel for a robot, robot and recording medium |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020110070586A KR101247761B1 (ko) | 2011-07-15 | 2011-07-15 | 로봇의 선체면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 |
KR10-2011-0070586 | 2011-07-15 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2013012189A2 true WO2013012189A2 (ko) | 2013-01-24 |
WO2013012189A3 WO2013012189A3 (ko) | 2013-03-14 |
Family
ID=47558568
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2012/005307 WO2013012189A2 (ko) | 2011-07-15 | 2012-07-04 | 로봇의 주행면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20140163732A1 (ko) |
EP (1) | EP2732935B1 (ko) |
JP (1) | JP5885003B2 (ko) |
KR (1) | KR101247761B1 (ko) |
NO (1) | NO2732935T3 (ko) |
WO (1) | WO2013012189A2 (ko) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101516540B1 (ko) | 2013-10-11 | 2015-05-04 | 삼성중공업 주식회사 | 선박용 로봇 및 로봇 주행구간 설정장치 |
US9701016B1 (en) | 2015-08-10 | 2017-07-11 | X Development Llc | Detection of movable ground areas of a robot's environment using a transducer array |
CN108733065B (zh) * | 2017-09-29 | 2021-06-04 | 北京猎户星空科技有限公司 | 一种机器人的避障方法、装置及机器人 |
KR102178630B1 (ko) * | 2018-12-20 | 2020-11-13 | 한화토탈 주식회사 | 프로필렌 중합용 고체 촉매 및 이를 이용한 블록 공중합체의 제조방법 |
CN111880532B (zh) * | 2020-07-13 | 2022-03-18 | 珠海格力电器股份有限公司 | 自主移动设备及其方法、装置、设备和存储介质 |
CN111959722B (zh) | 2020-08-21 | 2022-05-17 | 广东海洋大学 | 一种基于船舶stl三维模型的rov船底自主巡检方法 |
CN115892378A (zh) * | 2022-12-23 | 2023-04-04 | 广东深蓝水下特种设备科技有限公司 | 基于水下声呐定位的船舶清洗方法、系统及介质 |
Family Cites Families (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3316092B2 (ja) * | 1993-09-14 | 2002-08-19 | 富士通株式会社 | 最接近点探索装置 |
ZA952853B (en) * | 1994-04-18 | 1995-12-21 | Caterpillar Inc | Method and apparatus for real time monitoring and co-ordination of multiple geography altering machines on a work site |
JP3462570B2 (ja) * | 1994-05-09 | 2003-11-05 | ファナック株式会社 | ロボット動作プログラムの作成方法 |
JPH08320947A (ja) * | 1995-05-25 | 1996-12-03 | Matsushita Electric Ind Co Ltd | 数値解析用メッシュ作成方法及び装置 |
US5947051A (en) * | 1997-06-04 | 1999-09-07 | Geiger; Michael B. | Underwater self-propelled surface adhering robotically operated vehicle |
US6124857A (en) * | 1998-08-12 | 2000-09-26 | International Business Machines Corporation | Meshing method and apparatus |
EP1026639A3 (en) * | 1999-02-04 | 2002-09-04 | Canon Kabushiki Kaisha | 3D computer graphics processing apparatus and method |
US6879946B2 (en) * | 1999-11-30 | 2005-04-12 | Pattern Discovery Software Systems Ltd. | Intelligent modeling, transformation and manipulation system |
US6690134B1 (en) * | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
US7663333B2 (en) * | 2001-06-12 | 2010-02-16 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
DE10150423A1 (de) * | 2001-10-11 | 2003-04-30 | Siemens Ag | Verfahren und Anordnung sowie Computerprogramm mit Programmcode-Mitteln und Computerprogramm-Produkt zur Zuweisung einer Teilfläche einer in mehrere Teilflächen aufgeteilten Gesamtfläche an eine von mehreren mobilen Einheiten |
US7805220B2 (en) * | 2003-03-14 | 2010-09-28 | Sharper Image Acquisition Llc | Robot vacuum with internal mapping system |
JP2005196273A (ja) | 2003-12-26 | 2005-07-21 | Prometech Software Inc | メッシュ生成システムおよびメッシュ生成プログラム |
KR100752782B1 (ko) * | 2006-05-26 | 2007-08-29 | 주식회사 에이티엠 | 로봇 작업위치의 3차원적 현출 시스템 및 방법 |
KR100843085B1 (ko) * | 2006-06-20 | 2008-07-02 | 삼성전자주식회사 | 이동 로봇의 격자지도 작성 방법 및 장치와 이를 이용한영역 분리 방법 및 장치 |
JP4392507B2 (ja) * | 2006-11-08 | 2010-01-06 | 国立大学法人東京工業大学 | 3次元サーフェス生成方法 |
US8306659B2 (en) * | 2006-12-06 | 2012-11-06 | F Robotics Acquisitions Ltd. | Autonomous robot |
JP5192868B2 (ja) * | 2008-03-25 | 2013-05-08 | 株式会社Ihi | 移動ロボットの走行領域判別装置及び走行領域判別方法 |
KR100960085B1 (ko) * | 2008-04-29 | 2010-05-31 | 삼성중공업 주식회사 | 선체 자동 메쉬 생성 방법 및 장치 |
US8433128B2 (en) * | 2008-11-04 | 2013-04-30 | Omron Corporation | Method of creating three-dimensional model and object recognizing device |
US9440717B2 (en) * | 2008-11-21 | 2016-09-13 | Raytheon Company | Hull robot |
CN101872488B (zh) * | 2009-04-27 | 2012-05-16 | 鸿富锦精密工业(深圳)有限公司 | 曲面渲染系统及方法 |
KR20110049412A (ko) * | 2009-11-05 | 2011-05-12 | 대우조선해양 주식회사 | 선체 블록의 형상정보 추출 방법 및 장치 |
JP5432688B2 (ja) * | 2009-12-03 | 2014-03-05 | 株式会社日立製作所 | 移動ロボット及びその走行安定化方法 |
CN102110305A (zh) * | 2009-12-29 | 2011-06-29 | 鸿富锦精密工业(深圳)有限公司 | 点云三角网格面构建系统及方法 |
US8676498B2 (en) * | 2010-09-24 | 2014-03-18 | Honeywell International Inc. | Camera and inertial measurement unit integration with navigation data feedback for feature tracking |
US8930019B2 (en) * | 2010-12-30 | 2015-01-06 | Irobot Corporation | Mobile human interface robot |
JP6156067B2 (ja) * | 2013-11-01 | 2017-07-05 | 富士通株式会社 | 移動量推定装置及び移動量推定方法 |
-
2011
- 2011-07-15 KR KR1020110070586A patent/KR101247761B1/ko active IP Right Grant
-
2012
- 2012-07-04 EP EP12814854.1A patent/EP2732935B1/en not_active Not-in-force
- 2012-07-04 JP JP2014521545A patent/JP5885003B2/ja active Active
- 2012-07-04 WO PCT/KR2012/005307 patent/WO2013012189A2/ko active Application Filing
- 2012-07-04 NO NO12814854A patent/NO2732935T3/no unknown
- 2012-07-04 US US14/232,875 patent/US20140163732A1/en not_active Abandoned
Non-Patent Citations (1)
Title |
---|
None |
Also Published As
Publication number | Publication date |
---|---|
US20140163732A1 (en) | 2014-06-12 |
WO2013012189A3 (ko) | 2013-03-14 |
NO2732935T3 (ko) | 2018-03-24 |
JP2014521181A (ja) | 2014-08-25 |
JP5885003B2 (ja) | 2016-03-15 |
KR101247761B1 (ko) | 2013-04-01 |
EP2732935A4 (en) | 2015-11-25 |
KR20130009453A (ko) | 2013-01-23 |
EP2732935A2 (en) | 2014-05-21 |
EP2732935B1 (en) | 2017-10-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2013012189A2 (ko) | 로봇의 주행면 주행 가능 영역 확인 방법, 로봇 및 기록 매체 | |
KR102402134B1 (ko) | 자재 핸들링 차량 경로 검증 및 동적 경로 수정 | |
KR101859351B1 (ko) | 로봇 디바이스에 대한 가상 안전 케이지 | |
JP6137155B2 (ja) | 干渉回避方法、制御装置及びプログラム | |
JP4532280B2 (ja) | 自由面および占有面を有する面を記述するグラフ構造を形成するための方法および装置ならびにプログラムコード手段を有するコンピュータプログラムおよびコンピュータプログラム製品 | |
CN103678754A (zh) | 信息处理装置及信息处理方法 | |
Chen et al. | An enhanced dynamic Delaunay triangulation-based path planning algorithm for autonomous mobile robot navigation | |
KR101372062B1 (ko) | 이동로봇 및 이동로봇의 온라인 전역경로 커버 제어방법 | |
JP5817611B2 (ja) | 移動ロボット | |
JP5361004B2 (ja) | 円滑経路生成装置および円滑経路生成方法 | |
CN111469127B (zh) | 代价地图更新方法、装置、机器人及存储介质 | |
JP2016024598A (ja) | 自律移動装置の制御方法 | |
CN108959753B (zh) | 碰撞检测方法、系统、可读存储介质及计算机设备 | |
US20150269451A1 (en) | Object detection device, object detection method, and computer readable non-transitory storage medium comprising object detection program | |
CN112539749A (zh) | 机器人导航方法、机器人、终端设备及存储介质 | |
US20160195875A1 (en) | Autonomous mobile robot and method for operating the same | |
JP2020013551A (ja) | 移動ロボット、及び、制御方法 | |
Norouzi et al. | Planning high-visibility stable paths for reconfigurable robots on uneven terrain | |
JP5212939B2 (ja) | 自律移動装置 | |
CN110431498A (zh) | 焊道信息的取得方法和焊接机器人系统 | |
Palomer et al. | Bathymetry-based SLAM with difference of normals point-cloud subsampling and probabilistic ICP registration | |
JP5435729B2 (ja) | 脚式ロボットの歩行着地位置計画方法 | |
WO2016009585A1 (ja) | 自律移動体とその制御方法 | |
Yamashita et al. | Motion Planning of Biped Robot Equipped with Stereo Camera Using Grid Map. | |
Shade et al. | Discovering and mapping complete surfaces with stereo |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
DPE2 | Request for preliminary examination filed before expiration of 19th month from priority date (pct application filed from 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 12814854 Country of ref document: EP Kind code of ref document: A2 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14232875 Country of ref document: US |
|
ENP | Entry into the national phase |
Ref document number: 2014521545 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
REEP | Request for entry into the european phase |
Ref document number: 2012814854 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2012814854 Country of ref document: EP |