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MX2016013016A - Robot humanoide con ruedas omnidireccionales basado en una posición predictiva lineal y un controlador de velocidad. - Google Patents

Robot humanoide con ruedas omnidireccionales basado en una posición predictiva lineal y un controlador de velocidad.

Info

Publication number
MX2016013016A
MX2016013016A MX2016013016A MX2016013016A MX2016013016A MX 2016013016 A MX2016013016 A MX 2016013016A MX 2016013016 A MX2016013016 A MX 2016013016A MX 2016013016 A MX2016013016 A MX 2016013016A MX 2016013016 A MX2016013016 A MX 2016013016A
Authority
MX
Mexico
Prior art keywords
humanoid robot
controller
speed
base
tilt
Prior art date
Application number
MX2016013016A
Other languages
English (en)
Inventor
LAFAYE Jory
Collette Cyrille
Brice Wieber Pierre-
Original Assignee
Institut National De La Rech En Informatique Et Automatique
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Institut National De La Rech En Informatique Et Automatique filed Critical Institut National De La Rech En Informatique Et Automatique
Publication of MX2016013016A publication Critical patent/MX2016013016A/es

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • 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
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/49—Control of attitude, i.e. control of roll, pitch or yaw

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Toys (AREA)

Abstract

El objeto de la invención s un robot humanoide (100) con un cuerpo (190) unido a una base en contacto con el suelo móvil omnidireccional (140), provisto de: un sensor de posición del cuerpo, un sensor de posición de la base y un sensor de velocidad angular para proporcionar mediciones. Actuadores (212) que comprenden al menos 3 ruedas situadas en la base móvil omnidireccional. Extractores (211) para convertir las mediciones detectadas en datos útiles, un supervisor (5009 para calcular comandos de posición, velocidad y aceleración a partir de los daros útiles, un medio para convertir los comandos en instrucciones para los actuadores, caracterizado por que el supervisor comprende: un contralor de estado de no inclinación (501), un controlador de estado de inclinación (502) y un controlador de estado de aterrizaje (503), comprendiendo cada controlador un medio para calcular comandos de posición, velocidad y aceleración basados en un modelo de robot de doble punto material con movimiento de inclinación y en una ley de control predictivo de modelo lineal, que se expresa como una fórmula de optimización cuadrática con una suma ponderada de objetivos, y un conjunto de restricciones lineales predefinidas.
MX2016013016A 2014-04-17 2015-04-17 Robot humanoide con ruedas omnidireccionales basado en una posición predictiva lineal y un controlador de velocidad. MX2016013016A (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14305585.3A EP2933069B1 (en) 2014-04-17 2014-04-17 Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller
PCT/EP2015/058370 WO2015158885A2 (en) 2014-04-17 2015-04-17 Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller

Publications (1)

Publication Number Publication Date
MX2016013016A true MX2016013016A (es) 2017-10-04

Family

ID=50588609

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016013016A MX2016013016A (es) 2014-04-17 2015-04-17 Robot humanoide con ruedas omnidireccionales basado en una posición predictiva lineal y un controlador de velocidad.

Country Status (14)

Country Link
US (1) US10232508B2 (es)
EP (1) EP2933069B1 (es)
JP (1) JP6496396B2 (es)
KR (1) KR101977912B1 (es)
CN (1) CN106573370B (es)
AU (1) AU2015248711B2 (es)
CA (1) CA2946049C (es)
ES (1) ES2746754T3 (es)
HK (1) HK1216406A1 (es)
MX (1) MX2016013016A (es)
NZ (1) NZ725275A (es)
RU (1) RU2680791C2 (es)
SG (1) SG11201608204QA (es)
WO (1) WO2015158885A2 (es)

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Publication number Publication date
AU2015248711B2 (en) 2018-02-01
CA2946049A1 (en) 2015-10-22
WO2015158885A2 (en) 2015-10-22
KR20170030078A (ko) 2017-03-16
WO2015158885A3 (en) 2015-12-10
JP6496396B2 (ja) 2019-04-03
RU2016144008A (ru) 2018-05-17
EP2933069A1 (en) 2015-10-21
CN106573370A (zh) 2017-04-19
CA2946049C (en) 2018-11-20
US10232508B2 (en) 2019-03-19
NZ725275A (en) 2017-12-22
AU2015248711A1 (en) 2016-11-03
HK1216406A1 (en) 2016-11-11
RU2016144008A3 (es) 2018-05-17
CN106573370B (zh) 2019-06-21
EP2933069B1 (en) 2019-07-03
JP2017513726A (ja) 2017-06-01
SG11201608204QA (en) 2016-10-28
ES2746754T3 (es) 2020-03-06
US20170144299A1 (en) 2017-05-25
RU2680791C2 (ru) 2019-02-26
KR101977912B1 (ko) 2019-05-13

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