WO2001074546A1 - Robot se deplaçant sur des pieds, procede de commande et detecteur de mesure pour ledit robot - Google Patents
Robot se deplaçant sur des pieds, procede de commande et detecteur de mesure pour ledit robot Download PDFInfo
- Publication number
- WO2001074546A1 WO2001074546A1 PCT/JP2001/002895 JP0102895W WO0174546A1 WO 2001074546 A1 WO2001074546 A1 WO 2001074546A1 JP 0102895 W JP0102895 W JP 0102895W WO 0174546 A1 WO0174546 A1 WO 0174546A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- legs
- relative movement
- robot moving
- measuring sensor
- road surface
- 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
-
- 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
- B25J13/085—Force or torque sensors
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/980,143 US6802382B2 (en) | 2000-04-03 | 2001-04-03 | Robot moving on legs and control method therefor, and relative movement measuring sensor for robot moving on legs |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000100708A JP4480843B2 (ja) | 2000-04-03 | 2000-04-03 | 脚式移動ロボット及びその制御方法、並びに、脚式移動ロボット用相対移動測定センサ |
JP2000-100708 | 2000-04-03 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001074546A1 true WO2001074546A1 (fr) | 2001-10-11 |
Family
ID=18614867
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2001/002895 WO2001074546A1 (fr) | 2000-04-03 | 2001-04-03 | Robot se deplaçant sur des pieds, procede de commande et detecteur de mesure pour ledit robot |
Country Status (4)
Country | Link |
---|---|
US (1) | US6802382B2 (ja) |
JP (1) | JP4480843B2 (ja) |
CN (1) | CN1221357C (ja) |
WO (1) | WO2001074546A1 (ja) |
Cited By (4)
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WO2003051582A1 (fr) * | 2001-12-19 | 2003-06-26 | Japan Science And Technology Agency | Dispositif mobile de type marche de bipède, et dispositif de commande de marche et procédé de commande de marche correspondant |
WO2003057421A1 (fr) * | 2001-12-28 | 2003-07-17 | Honda Giken Kogyo Kabushiki Kaisha | Robot marcheur du type a jambes et son appareil de detection de force de reaction du sol |
WO2003068462A1 (fr) * | 2002-02-18 | 2003-08-21 | Japan Science And Technology Agency | Dispositif locomoteur marchant sur deux jambes et organe de commande associe |
EP1504855A1 (en) * | 2002-04-26 | 2005-02-09 | Honda Giken Kogyo Kabushiki Kaisha | System for estimating attitude of leg type moving robot itself |
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- 2001-04-03 US US09/980,143 patent/US6802382B2/en not_active Expired - Lifetime
- 2001-04-03 WO PCT/JP2001/002895 patent/WO2001074546A1/ja active Application Filing
- 2001-04-03 CN CNB018012000A patent/CN1221357C/zh not_active Expired - Lifetime
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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US5355064A (en) * | 1992-03-04 | 1994-10-11 | Honda Giken Kogyo Kabushiki Kaisha | Control system for legged mobile robot |
US5357433A (en) * | 1992-05-22 | 1994-10-18 | Honda Giken Kogyo Kabushiki Kaisha | Gait generation system for a legged mobile robot |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003051582A1 (fr) * | 2001-12-19 | 2003-06-26 | Japan Science And Technology Agency | Dispositif mobile de type marche de bipède, et dispositif de commande de marche et procédé de commande de marche correspondant |
WO2003057421A1 (fr) * | 2001-12-28 | 2003-07-17 | Honda Giken Kogyo Kabushiki Kaisha | Robot marcheur du type a jambes et son appareil de detection de force de reaction du sol |
US7409265B2 (en) | 2001-12-28 | 2008-08-05 | Honda Giken Kogyo Kabushiki Kaisha | Leg-type moving robot and floor reaction force detection device thereof |
WO2003068462A1 (fr) * | 2002-02-18 | 2003-08-21 | Japan Science And Technology Agency | Dispositif locomoteur marchant sur deux jambes et organe de commande associe |
US6992457B2 (en) | 2002-02-18 | 2006-01-31 | Japan Science And Technology Agency | Two-legged walding locomotion apparatus and its walking controller |
CN100336633C (zh) * | 2002-02-18 | 2007-09-12 | 独立行政法人科学技术振兴机构 | 双腿步行式移动装置及其步行控制装置 |
EP1504855A1 (en) * | 2002-04-26 | 2005-02-09 | Honda Giken Kogyo Kabushiki Kaisha | System for estimating attitude of leg type moving robot itself |
EP1508408A1 (en) * | 2002-04-26 | 2005-02-23 | Honda Giken Kogyo Kabushiki Kaisha | System for estimating attitude of leg type moving robot itself |
EP1504855A4 (en) * | 2002-04-26 | 2008-09-17 | Honda Motor Co Ltd | SYSTEM FOR ESTIMATING THE ATTITUDE OF A MOBILE ROBOT MOUNTED ON LEGS |
EP1508408A4 (en) * | 2002-04-26 | 2008-09-17 | Honda Motor Co Ltd | SYSTEM FOR ESTIMATING THE ATTITUDE OF A MOBILE ROBOT MOUNTED ON LEGS |
Also Published As
Publication number | Publication date |
---|---|
CN1372504A (zh) | 2002-10-02 |
JP4480843B2 (ja) | 2010-06-16 |
US20030009259A1 (en) | 2003-01-09 |
US6802382B2 (en) | 2004-10-12 |
CN1221357C (zh) | 2005-10-05 |
JP2001277159A (ja) | 2001-10-09 |
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