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WO2006040868A8 - 脚式移動ロボットの歩容生成装置 - Google Patents

脚式移動ロボットの歩容生成装置

Info

Publication number
WO2006040868A8
WO2006040868A8 PCT/JP2005/013842 JP2005013842W WO2006040868A8 WO 2006040868 A8 WO2006040868 A8 WO 2006040868A8 JP 2005013842 W JP2005013842 W JP 2005013842W WO 2006040868 A8 WO2006040868 A8 WO 2006040868A8
Authority
WO
WIPO (PCT)
Prior art keywords
robot
gait
target
dynamic model
interference
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2005/013842
Other languages
English (en)
French (fr)
Other versions
WO2006040868A1 (ja
Inventor
Tadaaki Hasegawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
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 Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to JP2006540839A priority Critical patent/JP4808626B2/ja
Priority to US11/576,656 priority patent/US7734377B2/en
Priority to KR1020077007229A priority patent/KR101131776B1/ko
Priority to DE602005021689T priority patent/DE602005021689D1/de
Priority to EP05767089A priority patent/EP1825967B1/en
Publication of WO2006040868A1 publication Critical patent/WO2006040868A1/ja
Publication of WO2006040868A8 publication Critical patent/WO2006040868A8/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

　対象物動力学モデル上での対象物１２０の挙動を実際の挙動に近づけるためのモデル操作量（推定外乱力）を対象物動力学モデルに与えつつ、対象物動力学モデルを用いて現在以降の所定期間の対象物１２０の目標運動軌道と目標対象物反力軌道とを求め、これらを用いて所定期間のロボット１の歩容を仮生成する。その歩容と対象物目標運動軌道とを基にロボット１と対象物１２０との干渉などの幾何学的制約条件をチェックし、それに応じて適宜、対象物１２０の移動計画やロボット１の歩容パラメータ（着地予定位置姿勢など）を修正して、ロボット１の歩容を生成する。これにより、ロボット１の動作制御を行ないつつ、リアルタイムで実際の環境条件を反映させながら、ロボット１と対象物との間の干渉などに係わる所要の幾何学的制約条件を満たす目標歩容を生成する。
PCT/JP2005/013842 2004-10-15 2005-07-28 脚式移動ロボットの歩容生成装置 Ceased WO2006040868A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2006540839A JP4808626B2 (ja) 2004-10-15 2005-07-28 脚式移動ロボットの歩容生成装置
US11/576,656 US7734377B2 (en) 2004-10-15 2005-07-28 Gait generator of legged mobile robot
KR1020077007229A KR101131776B1 (ko) 2004-10-15 2005-07-28 다리식 이동 로봇의 보용 생성장치
DE602005021689T DE602005021689D1 (de) 2004-10-15 2005-07-28 Gangerzeuger für mobilen roboter mit beinen
EP05767089A EP1825967B1 (en) 2004-10-15 2005-07-28 Gait generator of legged mobile robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004300911 2004-10-15
JP2004-300911 2004-10-15

Publications (2)

Publication Number Publication Date
WO2006040868A1 WO2006040868A1 (ja) 2006-04-20
WO2006040868A8 true WO2006040868A8 (ja) 2007-03-22

Family

ID=36148170

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2005/013842 Ceased WO2006040868A1 (ja) 2004-10-15 2005-07-28 脚式移動ロボットの歩容生成装置

Country Status (6)

Country Link
US (1) US7734377B2 (ja)
EP (1) EP1825967B1 (ja)
JP (1) JP4808626B2 (ja)
KR (1) KR101131776B1 (ja)
DE (1) DE602005021689D1 (ja)
WO (1) WO2006040868A1 (ja)

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JP4641252B2 (ja) * 2005-12-12 2011-03-02 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
JP4899165B2 (ja) * 2007-12-10 2012-03-21 本田技研工業株式会社 脚式移動ロボットの制御装置
JP4560658B2 (ja) * 2007-12-10 2010-10-13 本田技研工業株式会社 脚式移動ロボットの制御装置
KR101464124B1 (ko) * 2008-06-04 2014-11-20 삼성전자주식회사 로봇 및 그 보행제어방법
KR101665543B1 (ko) * 2009-08-12 2016-10-13 삼성전자 주식회사 인간형 로봇의 안정화 장치 및 그 방법
JP5483997B2 (ja) * 2009-10-28 2014-05-07 本田技研工業株式会社 脚式移動ロボットの制御装置
JP5232124B2 (ja) * 2009-10-28 2013-07-10 本田技研工業株式会社 脚式移動ロボットの制御装置
KR101667032B1 (ko) * 2009-10-30 2016-10-17 삼성전자 주식회사 로봇의 경로 계획 장치 및 그 방법
WO2011106543A1 (en) * 2010-02-25 2011-09-01 Honda Motor Co., Ltd. A momentum-based balance controller for humanoid robots on non-level and non-stationary ground
US8849454B2 (en) 2011-03-21 2014-09-30 Honda Motor Co., Ltd. Humanoid robot push recovery on level and non-level ground
US10081098B1 (en) 2014-08-25 2018-09-25 Boston Dynamics, Inc. Generalized coordinate surrogates for integrated estimation and control
US9618937B1 (en) 2014-08-25 2017-04-11 Google Inc. Slip detection using robotic limbs
US9387588B1 (en) * 2014-08-25 2016-07-12 Google Inc. Handling gait disturbances with asynchronous timing
US9446518B1 (en) 2014-11-11 2016-09-20 Google Inc. Leg collision avoidance in a robotic device
US9499218B1 (en) 2014-12-30 2016-11-22 Google Inc. Mechanically-timed footsteps for a robotic device
WO2016159346A1 (ja) * 2015-04-02 2016-10-06 国立大学法人大阪大学 脚型機構体、歩行ロボット、姿勢制御方法及びプログラム
US9594377B1 (en) 2015-05-12 2017-03-14 Google Inc. Auto-height swing adjustment
US9586316B1 (en) 2015-09-15 2017-03-07 Google Inc. Determination of robotic step path
US9778132B1 (en) * 2015-12-16 2017-10-03 X Development Llc Methods and systems for force sensor calibration
US9925667B1 (en) 2016-01-25 2018-03-27 Boston Dynamics, Inc. Continuous slip recovery
US9789919B1 (en) 2016-03-22 2017-10-17 Google Inc. Mitigating sensor noise in legged robots
US10351189B2 (en) * 2016-12-13 2019-07-16 Boston Dynamics, Inc. Whole body manipulation on a legged robot using dynamic balance
CN110193830B (zh) * 2019-05-24 2022-10-11 上海大学 基于rbf神经网络的踝关节步态预测方法
CN110187637B (zh) * 2019-06-03 2021-12-10 重庆大学 在控制方向和期望轨迹不确定下的机器人系统控制方法
CN114253260B (zh) * 2021-12-08 2023-08-18 深圳市优必选科技股份有限公司 机器人步态规划方法及装置、运动规划设备和存储介质
CN116643564B (zh) * 2023-05-25 2025-12-19 中国人民解放军军事科学院国防科技创新研究院 用于无人车的箱体推动控制方法

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JP3233450B2 (ja) 1992-05-22 2001-11-26 本田技研工業株式会社 指定時刻到達関数発生器
JP3663034B2 (ja) 1996-07-25 2005-06-22 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
EP0965416B1 (en) * 1996-12-19 2005-12-07 Honda Giken Kogyo Kabushiki Kaisha Attitude controller of legged moving robot
JP3672426B2 (ja) 1996-12-19 2005-07-20 本田技研工業株式会社 脚式移動ロボットの姿勢制御装置
EP1120203B1 (en) * 1998-04-20 2011-01-19 Honda Giken Kogyo Kabushiki Kaisha Controller for legged mobile robot
JP4213310B2 (ja) * 1999-08-30 2009-01-21 本田技研工業株式会社 ２足歩行脚式移動ロボット
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
JP2002040224A (ja) 2000-07-26 2002-02-06 Sharp Corp レジストパターンの形成方法およびカラーフィルタの製造方法
JP3726081B2 (ja) * 2000-11-17 2005-12-14 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
JP3726032B2 (ja) 2001-04-27 2005-12-14 本田技研工業株式会社 脚式移動ロボットの目標運動生成装置
JP3679105B2 (ja) 2001-12-28 2005-08-03 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
WO2003057423A1 (en) 2001-12-28 2003-07-17 Honda Giken Kogyo Kabushiki Kaisha Gait producing device for leg type movable robot
JP4029152B2 (ja) * 2003-01-08 2008-01-09 独立行政法人産業技術総合研究所 脚式移動ロボット及び制御方法
JP2005115654A (ja) * 2003-10-08 2005-04-28 Sony Corp 情報処理装置および方法、プログラム格納媒体、並びにプログラム
JP4485279B2 (ja) 2004-08-02 2010-06-16 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および制御装置

Also Published As

Publication number Publication date
EP1825967B1 (en) 2010-06-02
KR101131776B1 (ko) 2012-04-06
JP4808626B2 (ja) 2011-11-02
KR20070064334A (ko) 2007-06-20
US7734377B2 (en) 2010-06-08
DE602005021689D1 (de) 2010-07-15
US20080133055A1 (en) 2008-06-05
WO2006040868A1 (ja) 2006-04-20
EP1825967A4 (en) 2008-05-07
JPWO2006040868A1 (ja) 2008-05-15
EP1825967A1 (en) 2007-08-29

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