DE60233566D1 - Mit zwei beinen gehende vorrichtung; gehsteuervorrichtung und gehsteuerverfahren dafür - Google Patents

Mit zwei beinen gehende vorrichtung; gehsteuervorrichtung und gehsteuerverfahren dafür

Info

Publication number
DE60233566D1
DE60233566D1 DE60233566T DE60233566T DE60233566D1 DE 60233566 D1 DE60233566 D1 DE 60233566D1 DE 60233566 T DE60233566 T DE 60233566T DE 60233566 T DE60233566 T DE 60233566T DE 60233566 D1 DE60233566 D1 DE 60233566D1
Authority
DE
Germany
Prior art keywords
gehsteuervorrichtung
gehsteuer
procedure therefor
going device
legs going
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.)
Expired - Lifetime
Application number
DE60233566T
Other languages
English (en)
Inventor
Takayuki Furuta
Ken Tomiyama
Hiroaki Kitano
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.)
Japan Science and Technology Agency
Original Assignee
Japan Science and Technology Agency
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 Japan Science and Technology Agency filed Critical Japan Science and Technology Agency
Application granted granted Critical
Publication of DE60233566D1 publication Critical patent/DE60233566D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • 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
DE60233566T 2001-06-07 2002-06-03 Mit zwei beinen gehende vorrichtung; gehsteuervorrichtung und gehsteuerverfahren dafür Expired - Lifetime DE60233566D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001173262A JP3760186B2 (ja) 2001-06-07 2001-06-07 二脚歩行式移動装置及びその歩行制御装置並びに歩行制御方法
PCT/JP2002/005422 WO2002100606A1 (fr) 2001-06-07 2002-06-03 Appareil marchant sur deux jambes, et appareil et procede de commande de marche

Publications (1)

Publication Number Publication Date
DE60233566D1 true DE60233566D1 (de) 2009-10-15

Family

ID=19014753

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60233566T Expired - Lifetime DE60233566D1 (de) 2001-06-07 2002-06-03 Mit zwei beinen gehende vorrichtung; gehsteuervorrichtung und gehsteuerverfahren dafür

Country Status (7)

Country Link
US (1) US6943520B2 (de)
EP (1) EP1393866B1 (de)
JP (1) JP3760186B2 (de)
KR (1) KR100476644B1 (de)
DE (1) DE60233566D1 (de)
TW (1) TW544385B (de)
WO (1) WO2002100606A1 (de)

Families Citing this family (97)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7217247B2 (en) * 2002-09-23 2007-05-15 Honda Giken Kogyo Kabushiki Kaisha Gravity compensation method in a human assist system and a human assist system with gravity compensation control
US7684896B2 (en) * 2001-06-29 2010-03-23 Honda Motor Co., Ltd. System and method of estimating joint loads using an approach of closed form dynamics
US7251593B2 (en) * 2001-10-29 2007-07-31 Honda Giken Kogyo Kabushiki Kaisha Simulation system, method and computer-readable medium for human augmentation devices
US7469166B2 (en) * 2001-06-29 2008-12-23 Honda Motor Co., Ltd. System and method of predicting novel motion in a serial chain system
US7135003B2 (en) * 2001-06-29 2006-11-14 Honda Giken Kogyo Kabushiki Kaisha Feedback estimation of joint forces and joint moments
US7623944B2 (en) * 2001-06-29 2009-11-24 Honda Motor Co., Ltd. System and method of estimating joint loads in a three-dimensional system
US7650204B2 (en) * 2001-06-29 2010-01-19 Honda Motor Co., Ltd. Active control of an ankle-foot orthosis
US7774177B2 (en) * 2001-06-29 2010-08-10 Honda Motor Co., Ltd. Exoskeleton controller for a human-exoskeleton system
US7390309B2 (en) * 2002-09-23 2008-06-24 Honda Motor Co., Ltd. Human assist system using gravity compensation control system and method using multiple feasibility parameters
JP3574952B2 (ja) 2002-02-18 2004-10-06 独立行政法人 科学技術振興機構 二脚歩行式移動装置及びその歩行制御装置
JP3731118B2 (ja) * 2002-02-18 2006-01-05 独立行政法人科学技術振興機構 二脚歩行式人型ロボット
US20040064195A1 (en) 2002-07-15 2004-04-01 Hugh Herr Variable-mechanical-impedance artificial legs
US7402142B2 (en) 2002-09-23 2008-07-22 Honda Giken Kogyo Kabushiki Kaisha Method and processor for obtaining moments and torques in a biped walking system
JP3972854B2 (ja) * 2003-04-10 2007-09-05 ソニー株式会社 ロボットの運動制御装置
US7698020B2 (en) * 2003-07-11 2010-04-13 Honda Motor Co., Ltd. Method of estimating joint moment of two-legged walking mobile body
US8075633B2 (en) 2003-09-25 2011-12-13 Massachusetts Institute Of Technology Active ankle foot orthosis
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
US11278433B2 (en) 2005-03-31 2022-03-22 Massachusetts Institute Of Technology Powered ankle-foot prosthesis
US20060249315A1 (en) 2005-03-31 2006-11-09 Massachusetts Institute Of Technology Artificial human limbs and joints employing actuators, springs, and variable-damper elements
US20070043449A1 (en) 2005-03-31 2007-02-22 Massachusetts Institute Of Technology Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components
US20070123997A1 (en) 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
US8864846B2 (en) 2005-03-31 2014-10-21 Massachusetts Institute Of Technology Model-based neuromechanical controller for a robotic leg
US8500823B2 (en) 2005-03-31 2013-08-06 Massachusetts Institute Of Technology Powered artificial knee with agonist-antagonist actuation
US10080672B2 (en) 2005-03-31 2018-09-25 Bionx Medical Technologies, Inc. Hybrid terrain-adaptive lower-extremity systems
US10307272B2 (en) 2005-03-31 2019-06-04 Massachusetts Institute Of Technology Method for using a model-based controller for a robotic leg
US8512415B2 (en) 2005-03-31 2013-08-20 Massachusetts Institute Of Technology Powered ankle-foot prothesis
US20070162152A1 (en) 2005-03-31 2007-07-12 Massachusetts Institute Of Technology Artificial joints using agonist-antagonist actuators
US8082062B2 (en) * 2005-06-10 2011-12-20 Honda Motor Co., Ltd. Regenerative actuation in motion control
KR100709556B1 (ko) * 2005-10-19 2007-04-20 한국과학기술연구원 인간형 로봇의 보행 제어 방법
KR100835354B1 (ko) * 2006-07-05 2008-06-04 삼성전자주식회사 보행로봇 및 그의 제어방법
JP5109573B2 (ja) 2007-10-19 2012-12-26 ソニー株式会社 制御システム及び制御方法、並びにロボット装置
KR100958114B1 (ko) 2007-12-17 2010-05-18 한국과학기술연구원 인간형 로봇의 보행 안정화 및 자세 제어 방법
KR101460140B1 (ko) 2008-04-16 2014-11-11 삼성전자주식회사 휴머노이드 로봇 및 그의 제어 방법
EP2349120B1 (de) * 2008-09-04 2017-03-22 Iwalk, Inc. Hybride untergrund-adaptierende systeme für beinprothesen, -orthesen sowie -exoskelettvorrichtungen
US20110082566A1 (en) 2008-09-04 2011-04-07 Herr Hugh M Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis
AU2009348961B2 (en) 2009-07-01 2014-12-04 Rex Bionics Limited Control system for a mobility aid
KR101687629B1 (ko) * 2010-01-18 2016-12-20 삼성전자주식회사 인간형 로봇 및 그 보행 제어방법
CN102892388A (zh) 2010-04-05 2013-01-23 Iwalk股份有限公司 控制假体或矫形器中的转矩
TWI478798B (zh) 2010-06-18 2015-04-01 Compal Electronics Inc 自動機械裝置及其控制方法
US9015093B1 (en) 2010-10-26 2015-04-21 Michael Lamport Commons Intelligent control with hierarchical stacked neural networks
US8775341B1 (en) 2010-10-26 2014-07-08 Michael Lamport Commons Intelligent control with hierarchical stacked neural networks
US9839552B2 (en) 2011-01-10 2017-12-12 Bionx Medical Technologies, Inc. Powered joint orthosis
US20120259430A1 (en) 2011-01-12 2012-10-11 Zhixiu Han Controlling powered human augmentation devices
WO2012100250A1 (en) 2011-01-21 2012-07-26 Iwalk, Inc. Terrain adaptive powered joint orthosis
WO2012125562A1 (en) 2011-03-11 2012-09-20 Iwalk, Inc. Biomimetic joint actuators
US9566710B2 (en) 2011-06-02 2017-02-14 Brain Corporation Apparatus and methods for operating robotic devices using selective state space training
WO2013067407A1 (en) 2011-11-02 2013-05-10 Iwalk, Inc. Biomimetic transfemoral prosthesis
US9032635B2 (en) 2011-12-15 2015-05-19 Massachusetts Institute Of Technology Physiological measurement device or wearable device interface simulator and method of use
KR20130078886A (ko) * 2012-01-02 2013-07-10 현대자동차주식회사 보행로봇의 균형제어방법
KR20140126783A (ko) 2012-01-31 2014-11-03 가부시키가이샤 다까라토미 로봇 완구
US9221177B2 (en) 2012-04-18 2015-12-29 Massachusetts Institute Of Technology Neuromuscular model-based sensing and control paradigm for a robotic leg
CA2876187C (en) 2012-06-12 2021-01-26 Iwalk, Inc. Prosthetic, orthotic or exoskeleton device
US9764468B2 (en) 2013-03-15 2017-09-19 Brain Corporation Adaptive predictor apparatus and methods
US9242372B2 (en) 2013-05-31 2016-01-26 Brain Corporation Adaptive robotic interface apparatus and methods
US9314924B1 (en) 2013-06-14 2016-04-19 Brain Corporation Predictive robotic controller apparatus and methods
US9792546B2 (en) 2013-06-14 2017-10-17 Brain Corporation Hierarchical robotic controller apparatus and methods
US9384443B2 (en) 2013-06-14 2016-07-05 Brain Corporation Robotic training apparatus and methods
US9436909B2 (en) 2013-06-19 2016-09-06 Brain Corporation Increased dynamic range artificial neuron network apparatus and methods
US9579789B2 (en) 2013-09-27 2017-02-28 Brain Corporation Apparatus and methods for training of robotic control arbitration
US9296101B2 (en) 2013-09-27 2016-03-29 Brain Corporation Robotic control arbitration apparatus and methods
US9463571B2 (en) 2013-11-01 2016-10-11 Brian Corporation Apparatus and methods for online training of robots
US9597797B2 (en) 2013-11-01 2017-03-21 Brain Corporation Apparatus and methods for haptic training of robots
US9248569B2 (en) 2013-11-22 2016-02-02 Brain Corporation Discrepancy detection apparatus and methods for machine learning
US9358685B2 (en) 2014-02-03 2016-06-07 Brain Corporation Apparatus and methods for control of robot actions based on corrective user inputs
US9346167B2 (en) 2014-04-29 2016-05-24 Brain Corporation Trainable convolutional network apparatus and methods for operating a robotic vehicle
US9387588B1 (en) 2014-08-25 2016-07-12 Google Inc. Handling gait disturbances with asynchronous timing
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
CN105437236A (zh) * 2014-08-30 2016-03-30 赵德朝 一种仿人工程机器人
US9630318B2 (en) 2014-10-02 2017-04-25 Brain Corporation Feature detection apparatus and methods for training of robotic navigation
JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
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
US9717387B1 (en) 2015-02-26 2017-08-01 Brain Corporation Apparatus and methods for programming and training of robotic household appliances
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
JP2017144512A (ja) * 2016-02-17 2017-08-24 国立大学法人 東京大学 Ｚｍｐの算出方法及び装置
US9789919B1 (en) 2016-03-22 2017-10-17 Google Inc. Mitigating sensor noise in legged robots
US10179619B1 (en) * 2016-03-30 2019-01-15 Schaft Inc. Robotic foot sensor
US10241514B2 (en) 2016-05-11 2019-03-26 Brain Corporation Systems and methods for initializing a robot to autonomously travel a trained route
US9987752B2 (en) 2016-06-10 2018-06-05 Brain Corporation Systems and methods for automatic detection of spills
US10282849B2 (en) 2016-06-17 2019-05-07 Brain Corporation Systems and methods for predictive/reconstructive visual object tracker
US10016896B2 (en) 2016-06-30 2018-07-10 Brain Corporation Systems and methods for robotic behavior around moving bodies
US10274325B2 (en) 2016-11-01 2019-04-30 Brain Corporation Systems and methods for robotic mapping
US10001780B2 (en) 2016-11-02 2018-06-19 Brain Corporation Systems and methods for dynamic route planning in autonomous navigation
US10723018B2 (en) 2016-11-28 2020-07-28 Brain Corporation Systems and methods for remote operating and/or monitoring of a robot
US10377040B2 (en) 2017-02-02 2019-08-13 Brain Corporation Systems and methods for assisting a robotic apparatus
US10852730B2 (en) 2017-02-08 2020-12-01 Brain Corporation Systems and methods for robotic mobile platforms
US10293485B2 (en) 2017-03-30 2019-05-21 Brain Corporation Systems and methods for robotic path planning
CN108549237B (zh) * 2018-05-16 2020-04-28 华南理工大学 基于深度增强学习的预观控制仿人机器人步态规划方法
CN109634100B (zh) * 2018-12-30 2021-11-02 深圳市优必选科技有限公司 仿人机器人行走加速度补偿方法、装置及仿人机器人
CN110743176B (zh) * 2019-10-12 2021-11-12 湖北工业大学 户外避障式节拍双轮领跑机器人
CN112975941B (zh) * 2019-12-13 2022-06-24 深圳市优必选科技股份有限公司 机器人控制方法、装置、计算机可读存储介质及机器人
CN112034847B (zh) * 2020-08-13 2021-04-13 广州仿真机器人有限公司 具有双行走模式的分体式仿真机器人的避障方法和装置
CN112643679B (zh) * 2020-12-30 2022-07-08 乐聚(深圳)机器人技术有限公司 机器人运动控制方法、装置、控制器及存储介质
CN113618740B (zh) * 2021-08-24 2022-07-29 深圳市优必选科技股份有限公司 双足机器人舞蹈平衡控制方法、装置和双足机器人
DE102022107587A1 (de) 2022-03-30 2023-10-05 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Gangsteuerung eines Roboters, Regler, Computerprogramm und Robotersystem

Family Cites Families (16)

* Cited by examiner, † Cited by third party
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
US5432417A (en) * 1992-04-30 1995-07-11 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobile robot
JP3167420B2 (ja) 1992-04-30 2001-05-21 本田技研工業株式会社 脚式移動ロボットの歩行制御装置
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
JP4279416B2 (ja) 1999-08-30 2009-06-17 本田技研工業株式会社 ２足歩行ロボット
JP4660870B2 (ja) 1999-11-08 2011-03-30 ソニー株式会社 脚式移動ロボット及びその制御方法
JP3634238B2 (ja) * 2000-05-19 2005-03-30 本田技研工業株式会社 脚式移動ロボットの床形状推定装置
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
US6876903B2 (en) * 2000-11-17 2005-04-05 Honda Giken Kogyo Kabushiki Kaisha Gait pattern generating device for legged mobile robot
EP1344612B1 (de) * 2000-11-17 2011-01-05 Sony Corporation Vorrichtung und verfahren zur steuerung eines beweglichen roboters mit beinen und verfahren zur erzeugung von bewegungsmustern für einen beweglichen roboter mit beinen
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
WO2003011535A1 (fr) * 2001-08-01 2003-02-13 Sony Corporation Robot mobile dote de jambes et procede de commande de fonctionnement de ce robot
JP3603279B2 (ja) * 2001-09-26 2004-12-22 独立行政法人科学技術振興機構 二脚歩行式人型ロボット
JP3888294B2 (ja) * 2002-11-26 2007-02-28 トヨタ自動車株式会社 Ｚｍｐ補償制御のゲインを変化させながら歩行するロボット
JP3972854B2 (ja) * 2003-04-10 2007-09-05 ソニー株式会社 ロボットの運動制御装置

Also Published As

Publication number Publication date
EP1393866A1 (de) 2004-03-03
EP1393866A4 (de) 2006-05-10
WO2002100606A1 (fr) 2002-12-19
US20040051493A1 (en) 2004-03-18
JP3760186B2 (ja) 2006-03-29
EP1393866B1 (de) 2009-09-02
US6943520B2 (en) 2005-09-13
TW544385B (en) 2003-08-01
KR20030029788A (ko) 2003-04-16
JP2002361574A (ja) 2002-12-18
KR100476644B1 (ko) 2005-03-17

Similar Documents

Publication Publication Date Title
DE60233566D1 (de) Mit zwei beinen gehende vorrichtung; gehsteuervorrichtung und gehsteuerverfahren dafür
DE60206893D1 (de) Drehendes reibungschweissverfahren und vorrichtung
DE50206220D1 (de) Koordinaten-Messtisch und Koordinaten-Messgerät
DE60203579D1 (de) Ultraschallschweissspitze und Gerät mit solcher Spitze
DE60237733D1 (de) Vorrichtung mit Betriebsmodus und Ruhemodus
DE60227302D1 (de) Photovoltaisches Element und photovoltaische Vorrichtung
DE60237342D1 (de) Elektrooptische Vorrichtung und elektronisches Gerät
DE60233840D1 (de) Elektrooptische Vorrichtung und zugehöriges Herstellungsverfahren
DE50211631D1 (de) Arretiervorrichtung mit mehreren Sperrstiften
DE10196595T1 (de) Vorrichtung und Halbleiter-Prüfvorrichtung
DE60230352D1 (de) Metallkomplex, lumineszierende Anordnung und Anzeigevorrichtung
DE60230353D1 (de) Metallkomplex, lumineszierende Anordnung und Anzeigevorrichtung
DE60207321D1 (de) Verschlussvorrichtung und -methode
DE60119002D1 (de) Elektrochirurgische Vorrichtung mit angereichertem Inertgas
DE60228061D1 (de) Maschenware mit öffnung und herstellungsverfahren
NO20034159L (no) Östrogen-gestagen-kombinasjonspreparat og anvendelse derav
DE50211870D1 (de) Navigationsverfahren mit dynamischer zielauswahl und navigationsgerät
DE60234299D1 (de) FFS-Verfahren und Vorrichtung
DE60235270D1 (de) Rückschaltungsvorrichtung und Rückschaltungsverfahren
DE60111433D1 (de) Lötverfahren und Lötvorrichtung
DE60229938D1 (de) ENTWICKLUNGSEINRICHTUNG UND BILDformungsgerät
DE60204749D1 (de) Abtast- und Halteschaltung
ATA92312002A (de) Behälter mit abgabevorrichtung
DE60229740D1 (de) Kontakthülse und durchkoppelgerät
DE60238229D1 (de) Sendevorrichtung und sendeverfahren

Legal Events

Date Code Title Description
8364 No opposition during term of opposition