WO2002100606A1 - Appareil marchant sur deux jambes, et appareil et procede de commande de marche - Google Patents
Appareil marchant sur deux jambes, et appareil et procede de commande de marche Download PDFInfo
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- WO2002100606A1 WO2002100606A1 PCT/JP2002/005422 JP0205422W WO02100606A1 WO 2002100606 A1 WO2002100606 A1 WO 2002100606A1 JP 0205422 W JP0205422 W JP 0205422W WO 02100606 A1 WO02100606 A1 WO 02100606A1
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- zmp
- target value
- walking
- gait
- virtual target
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Classifications
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- 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
Definitions
- the present invention relates to a bipedal locomotion device, and more particularly to a gait control for stabilizing gait.
- a so-called bipedal walking robot generates a predetermined walking pattern (hereinafter referred to as a gait) and performs gait control according to the gait data. By moving the legs in the evening, bipedal walking is realized.
- ZMP Zero 0 Moment Point
- a point at which the combined moment of the floor reaction force and gravity at the sole of the robot becomes zero (hereinafter referred to as ZMP: Zero 0 Moment Point) converges to the target value by walking control.
- ZMP compensation needs to be performed.
- the compliance control is used to converge the ZMP to a target value, and There are known methods of accelerating and correcting the upper body of a robot, and control methods of adjusting the location where the robot's feet touch the ground.
- the joint part of the robot By changing the motion trajectory by changing the angular velocity of the robot, the robot is stabilized. For this reason, the motion trajectory of each part of the robot, such as the tip of the free leg of the robot and the position of the upper body, deviates from the gait based on the gait data, and the stride length of the robot foot and the height of the free leg change or the upper body strength is inclined. I will. Therefore, the inclination of the body is detected by the inclination sensor to compensate for the inclination of the body.
- the present invention provides a bipedal locomotion device, a locomotion control device, and a locomotion device capable of realizing gait stability without changing the gait, that is, the motion trajectory of each joint. It is intended to provide a control method. Disclosure of the invention
- a knee is provided between the main body and the lower end of the main body so as to be swingable in two axial directions.
- Two legs having a portion, a foot attached to the lower end of each leg so as to be capable of swinging in two axial directions, a driving means for swinging each leg, knee, and foot;
- a gait generator that generates gait data including a target angular trajectory, a target angular velocity, and a target angular acceleration in response to a required operation; and a gait control that drives and controls the driving means based on the gait data.
- a walking control device comprising: a ZMP compensating device, wherein the ZMP compensating device comprises: a ZMP detecting sensor for detecting ZMP in each foot; A ZMP conversion unit that calculates a ZMP target value based on the gait data from the gait generator, and a ZMP The ZMP target value is obtained by comparing the ZMP actual measurement value detected by the output sensor with the ZMP target value from the ZMP conversion unit and correcting the target angular velocity and angular acceleration of the gait from the gait generator.
- Z MP compensator and It is characterized by containing.
- the main body is an upper body of a humanoid robot and includes a head and both hands.
- the ZMP compensating unit compares the ZMP actual measurement value detected by the ZMP detection sensor with the ZMP target value from the ZMP conversion unit, and the ZMP virtual target.
- a ZMP virtual target value generator for generating a value
- a parameter overnight generator for generating an inertial force operation parameter for compensating the ZMP target value to the ZMP virtual target value
- a parameter overnight for compensating the ZMP target value to the ZMP virtual target value
- a stabilizing filter that compensates for the ZMP target value based on lame.
- the ZMP virtual target value generation unit determines whether the generated ZMP virtual target value is within the compensable limit. In the bipedal walking type moving device according to the present invention, preferably, when the ZMP virtual target value generation section determines that the generated ZMP virtual target value exceeds the compensable limit, the ZMP virtual target value is again set. Generate.
- a main body and two knees having a knee portion in the middle, which are attached to both lower portions of the main body so as to be pivotable in two axial directions.
- a bipedal locomotion device comprising: a leg; a leg attached to the lower end of each leg so as to be pivotable in two axial directions; and driving means for pivoting each leg, knee, and foot.
- the walking control device for a walking-type moving device, includes a ZMP compensating device.
- the ZMP compensating device includes a ZMP detecting sensor for detecting ZMP in each foot 5, and a step from a gait generator.
- a ZMP conversion unit that calculates the ZMP target value based on the data
- the actual ZMP value detected by the sensor ⁇ : is compared with the ZMP target value from the ZMP conversion unit, and the target angular speed and angular power speed of the gait data from the gait generator are corrected to obtain the ZMP target value.
- a ZMP compensator for compensating the value.
- the ZMP compensating unit is configured to determine whether the ZMP actual measurement value detected by the ZMP detection sensor is a ZMP conversion unit.
- a ZMP virtual target value generator that compares the ZMP target values to generate a ZMP virtual target value, and an inertial force operation /, for compensating the ZMP target value to the ZMP virtual target value. It consists of a parameter generator that generates parameters, and a stabilizing filter that compensates for the ZMP target value based on the parameters from the parameter generator.
- the ZMP virtual target value generation unit determines whether the generated ZMP virtual target value is within a compensable limit.
- the ZMP virtual target value generation unit re-determines the ZMP virtual target value when it determines that the generated ZMP virtual target value exceeds the compensable limit. Generate target values.
- a body and two legs having a knee portion at an intermediate portion mounted on both lower sides of the body so as to be swingable in two axial directions.
- a drive unit that swings each leg, knee, and foot, and a foot that is attached to the lower end of each leg so as to be able to swing biaxially.
- a bipedal locomotion system that drives and controls the driving means based on a gait data including a target angular trajectory, a target angular velocity, and a target angular acceleration generated by a gait generator in response to a required motion.
- the walking control method of the device when the walking control method performs ZMP compensation, a first step of detecting a ZMP in each footstep by a ZMP detection sensor, and a gait data from a gait generator.
- the second stage of calculating the ZMP target value by the ZMP converter based on the evening By comparing the ZMP actual measurement value detected by the ZMP detection sensor with the ZMP target value, the ZMP compensation unit corrects the target angular speed and angular acceleration of the gait data from the gait generation unit. And a third step of compensating for.
- the third step includes: a ⁇ ⁇ actual measurement value detected by the ⁇ ⁇ ⁇ ⁇ ⁇ detection sensor; and a ⁇ ⁇ ⁇ target from the ⁇ ⁇ conversion unit.
- the step of generating the ZMP virtual target value determines whether the generated ZMP virtual target value is within the compensable limit.
- the step of generating the ZMP virtual target value includes the step of: determining that the generated ZMP virtual target value exceeds the compensable limit. Generate ZMP target value again.
- the ZMP actual measurement value detected by the ZMP detection sensor is compared with the ZMP target value calculated by the ZMP conversion unit from the gait data, and the gait generation unit is generated by the ZMP compensation unit.
- the target angular velocity and target angular acceleration of the gait data from the vehicle are corrected, and the ZMP target value is compensated by controlling the inertial force generated in the mobile device.
- the actual measurement error of the ZMP is converged to zero without changing the motion trajectories of the legs and the feet, thereby stabilizing the main body, preferably the upper body of the robot.
- the target angle trajectory of the gait is not changed, and the motion trajectory of each part of the main unit and the legs of the moving device such as a robot is the gait. It does not deviate from the trajectory determined by the data.
- the walking control can be reliably performed. is there.
- ZMP compensation is performed by using gait data generated by the gait generator, it does not depend on the gait generation method. Therefore, ZMP compensation can be simplified.
- the target angle trajectory of the gait data is not changed during ZMP compensation, there is no need to detect the inclination of the upper body used for conventional compensation and compensate for the upper body. Can be compensated.
- a ZMP virtual target value generator for comparing the ZMP actual measurement value detected by the ZMP detection sensor with the ZMP target value from the ZMP converter to generate a ZMP virtual target value; Inertia force for compensation from the value to the ZMP virtual target value. It is composed of a parameter generator that generates glitter and a stabilization filter that compensates the ZMP target value based on the inertial force from the parameter generator. In this case, the ZMP can be compensated stepwise by setting the ZMP virtual target value by the ZMP virtual target value generation unit.
- the ZMP virtual target value generation unit determines whether the generated ZMP virtual target value is within the compensable limit, if the determined result indicates that the generated ZMP virtual target value is within the compensable limit, However, even if the ZMP is compensated for the ZMP virtual target value, the mobile device will not fall. Therefore, ZMP compensation can be performed on the ZMP virtual target value.
- the ZMP virtual target value generator determines that the generated ZMP virtual target value exceeds the compensable limit, and generates the ZMP virtual target value again, the ZMP virtual target within the compensable limit is set.
- FIG. 1 is a schematic diagram showing a mechanical configuration of an embodiment of a bipedal walking robot according to the present invention.
- FIG. 2 is a block diagram showing an electric configuration of the bipedal walking robot of FIG.
- FIG. 3 is a block diagram showing a configuration of the ZMP compensating device for the biped mouth bot of FIG.
- Fig. 4 shows the Xz plane separation model of the biped robot shown in Fig. 1 when walking. It is a schematic diagram.
- FIG. 5 is a flowchart showing a walking control operation of the biped walking robot of FIG.
- FIG. 6 is a schematic diagram showing the angular velocity operation of ZMP compensation in the biped walking robot of FIG.
- FIG. 7 is a graph showing a ZMP virtual target value and a ZMP actual measurement value by a simulation experiment in the bipedal walking robot of FIG.
- FIG. 8 is a graph showing the ZMP target value, the ZMP actual measurement value, and the ZMP actual measurement value without ZMP compensation by a simulation experiment of the biped walking robot of FIG.
- FIG. 9 is a graph showing the ZMP target value, the ZMP actual measurement value, and the ZMP actual measurement value without ZMP compensation by an actual machine experiment in the biped walking robot of FIG.
- FIG. 10 is a graph showing the ZMP actual measurement values obtained by another actual machine experiment and the ZMP actual measurement values obtained by the conventional ZMP compensation in the biped walking robot shown in FIG.
- Fig. 11 is an enlarged graph showing (A) the ZMP target value, the ZMP measured value, and (B) the ZMP error immediately after the disturbance effect in the actual machine experiment in Fig. 10.
- FIG. 1 and FIG. 1 show a configuration of an embodiment of a bipedal walking mouthboat to which a bipedal walking type moving device according to the present invention is applied.
- a bipedal walking robot 10 has an upper body 11 as a main body, and two knees 12 L and 12 R in the middle attached to lower sides of the upper body 11. It includes legs 13 L, 1 31 ⁇ and legs 14 L, 14 R attached to the lower end of each leg 13 and 13 R.
- the legs 13 L and 13 R are respectively six joints, that is, the joints 15 L and 15 R for turning the waist legs relative to the upper body 11 in order from the top, and Joints in the roll direction (around the X axis) 16 L, 16 R, joints in the waist pitch direction (around the y axis) 17 L, 17 R. Joints in the pitch direction of ⁇ 2 L, 12 R 1 8 L, 18 R, foot It has joints 19 L, 19 R in the pitch direction of the ankle with respect to 14 L, 14 R, and joints 20 L, 2 OR in the roll direction of the ankle.
- Each joint 15L, 15R to 20L, 2OR is constituted by a joint driving motor.
- the hip joint is composed of the above-mentioned joints 15L, 15R, 16L, 16R, 17KL, 17R, and the ankle joint is the joints 19L, 19R. , 20 L, 2 OR. Further, the waist joint and the knee joint are connected by thigh links 21 L and 21 R, and the knee joint and the ankle joint are connected by crus links 22 L and 22 R.
- the left and right legs 13 L, 13 R and the legs L 14 L, 14 R of the bipedal walking robot 10 can be given 6 degrees of freedom, respectively, and these can be given during walking.
- the desired motion is given to the entire leg 13 L, 13 R, and the legs 14 L, 14 R by controlling the drive of the 12 joints at an appropriate angle in the drive mode. It is configured to be able to walk in a three-dimensional space at will.
- the feet 14L and 14R are provided with ZMP detection sensors 23L and 23R.
- the ZMP detection sensors 23 L and 23 R detect the ZMP, which is the center point of the sole reaction force at each of the feet 14 L and 14 R, and output the measured ZMP value. I have. Although the upper body 1.1 is simply shown in a box shape in the figure, it may actually have a head or both hands.
- FIG. 2 shows an electrical configuration of the bipedal walking robot 10 shown in FIG.
- a bipedal walking robot 10 includes a gait generator 24 that generates gait data in response to a required motion, and a driving unit based on the gait data, A walking control device 30 that drives and controls the joint driving motors 15L, 15R to 20L, 20R.
- the coordinate system of the bipedal walking robot 10 is an xyz coordinate system in which the front-rear direction is the X direction (forward +), the horizontal direction is the y direction (inward +), and the vertical direction is the z direction (upward +).
- the gait generator 24 is configured to provide a target angular trajectory of each joint 15 L, 15 R to 20 L, 2 OR necessary for walking of the bipedal walking robot 10 in response to a request operation input from the outside.
- 0Ref target angular velocity (d ⁇ ref / dt)
- d 2 ⁇ ref / dt 2 target angular acceleration
- the walking control device 30 includes an angle measuring unit 31, a ZMF compensating device 3, a control unit 33, a motor control unit, and a soto 34.
- the angle measuring unit 31 is provided with, for example, a rotary encoder or the like provided in the joint driving motor of each of the joints 15L, 15R to 20L, 20R. When the information is input, the angular position of each joint driving motor is measured and output to the control unit 33.
- the ZMP compensator 32 based on the ZMP actual measurement values from the ZMP detection sensors 23 L and 23 R outputs the gait data from the gait generator 24. Evening ZMP target value compensation is performed.
- a control signal for the driving mode is generated.
- the motor control unit 34 drives and controls each joint driving motor in accordance with a control signal from the control unit 33.
- the ZMF compensator 32 is configured as shown in FIG.
- the ZMP compensator 32 is composed of a ZMP converter 35 and a ZMP compensator 36.
- the calculation of the ZMP target value ZMPref is performed as follows.
- the support leg of the biped walking robot 10 is defined as the origin of the Xz plane
- the mass of the lower leg 22 L or 22 R of the support leg is defined as m 1
- the angle is defined as ⁇ 1.
- the mass of the thigh 21 L or 21 R is m 2
- the angle is ⁇ 2
- the mass of the upper body 11 is m 3
- the angle is 0
- the ZMP (XZMP) around the pitch axis is given by the following equation (1) Is calculated.
- ZMP (YZMP) around the roll axis can be calculated.
- the ZMP compensator 36 includes a ZMP virtual target value generator 37, a parameter generator 38, and a stabilizing filter 39, as shown in FIG.
- the ZMP virtual target value generation section 37 compares the ZMP actual measurement value detected by the ZMP detection sensor with the ZMP target value ZMPref from the ZMP conversion section 35 to generate a ZMP virtual target value ZMFvref.
- ZMP vref ZMP ref + ⁇ ZMP err0 r (£) where ⁇ is a gain.
- the ZMF virtual target value generation unit 37 determines whether or not the ⁇ virtual target value ZMPvr ef is within the compensable limit. Generate a ZMP vref.
- the parameter generating unit 38 a ZMF virtual target value ZMPvref from ZMP virtual target value generating unit 37, a target angle orbital 0ref from the walking generator 24, a target angular velocity (d 6ref t) and the target angular acceleration (d 2 9ref / dt 2 ), the ZMP compensation function is used to calculate the inertia force required to correct the measured ZMP value to the ZMP virtual target value ZM Pvref, and the inertia force operation parameter T c according to this inertia force is calculated. Is calculated.
- the parameter Tc of the inertial force operation is derived from the above-described ZMP calculation formula around the pitch axis by the following formula (3), and this formula is called a ZMP compensation function.
- f, ⁇ are parameters determined by the physical quantity of the mouth pot and 0 ref.
- a ZMP compensation function around the roll axis can be derived.
- the parameter generation unit 38 virtually expands and contracts the ZMP sampling interval by the inertia force operation parameter Tc to generate the inertia force necessary to achieve the ZMP target value. .
- the stabilization filter 39 calculates the target angle trajectory 0ref and the target angular velocity (deref / development) as the gait data from the gait generator 24. dt) and the target angular acceleration (d 2 eref / dt 2 ), the corrected target angular trajectory ⁇ c, target angular velocity ( ⁇ c / dt) and target angular acceleration (d 2 ⁇ c / dt 2 ) of each joint are calculated. calculate.
- step ST2 the ZMP converter 35 of the ZMP compensator 32 performs each joint 16 L, 161 to 20 based on the gait data, and sets the target angle ⁇ ref, the target angular velocity of 2OR. (d0ref / dt), to calculate a target angular acceleration (d 2 ⁇ ref / dt 2 ) or al ZMP target value.
- step ST3 ZMP detection sensors 23L and 23R provided on both feet 14L and 14R detect the ZMP actual measurement values.
- step ST4 the ZMP virtual target value generation unit 37 calculates the ZMP virtual target value ZMPvref from the ZMP error ZMPerr from the subtractor 37a and the ZMP target value ZMPref from the ZMP conversion ⁇ 35.
- step ST5 the ZMP virtual target value generator 37 determines whether or not the ZMP virtual target value ZMPvref is within the compensable limit. Then, in step ST5, if the ZMP virtual target value ZMPvref exceeds the compensable limit, the process returns to step ST4, and the ZMP virtual target value generation unit 37 again generates the ZMP virtual target value ZMPvref. Generate. Also, in step ST5, if the ZMP virtual target value ZMPvref is within the compensable limit, the ZMP virtual target value generator 37 outputs the ZMP virtual target value ZMPvref to the parameter generator 38.
- step ST 6 the parameter overnight generator 38 sends the ZMP virtual target The value ZMPvref and the target angles 0ref, target angular velocities (ddtref / dt), and target angular acceleration (d 2 ) of each joint 16L, 16R to 20L, 2OR based on the gait data from the gait generator 24 From 6ref / dt 2 ), the inertia force operation parameter Tc is calculated by the ZMP compensation function and output to the stabilizing filter 39.
- step ST7 based on the above-mentioned inertia force operation parameter overnight Tc, the stability filter 39 controls each joint 16L, 16R to 20L based on the gait data from the gait generator 24. , 2 OR a target angle 0Ref, target angular velocity (d ⁇ ref / dt), the modifications to the target angular acceleration (d 2 0ref / dt 2) in addition, the target angle of trajectory 0 c that fixes the respective joint portions, a target angular velocity ( d0 c / dt) and the target angular acceleration (d 2 ⁇ c / dt 2 ) are calculated.
- step ST8 the ZMP compensator 32 calculates the compensated gait data as described above, that is, the corrected target angular trajectory ⁇ c, the target angular velocity ( ⁇ c / dt) and the target angular acceleration ( d 2 ⁇ c / dt 2 ) is output to the control unit 33, and the motor control unit 34 controls the drive of the joint drive motor of each joint.
- the bipedal walking robot 10 performs a walking motion in response to the required motion.
- the target angular acceleration (d 2 6ref / dt 2) is modified target angular acceleration (d 2 ⁇ c / dt 2 )
- the acceleration acting on the robot 10 changes, and accordingly, the inertial force as a reaction of the acceleration changes.
- inertial force acting on the robot 10 is controlled appropriately by the change of the target angular acceleration (d 2 6ref / dt 2) .
- the robot 10 performs the walking motion for the requested motion by expanding and contracting the motion trajectory B over time without changing the motion trajectory A during the walking, as shown in FIG.
- the ZMP virtual target value generator 37 generates the ZMP target value ZMPref and the ZMP actual value. By temporarily generating the ZMP virtual target value ZMPvref from the measured values, if the ZMP actual value greatly deviates from the ZMP target value, the ZMP Is compensated. As a result, even when the measured ZMP value deviates significantly from the ZMP target value, excessive angular acceleration does not act on each joint of the robot 10, so that the robot 10 walks in a stable state. It is possible to do.
- the target angular velocity and the target angular acceleration of the gait data are calculated based on the ZMP error which is the difference between the ZMP target value and the ZMP actual measurement value.
- the ZMP target value is compensated by controlling the inertial force generated in the robot 10. Therefore, the robot 10 can stabilize walking by converging the ZMP error to zero without changing the motion trajectory during walking.
- the two-legged walking robot 10 described above performs a dynamic stepping motion in the yz plane, and gives a disturbance 0.42 seconds after one leg is standing by one of the supporting legs. Deviation from the standard.
- the ZMP virtual target value ZMPvref generated by the ZMP virtual target value generator 37 is 2? By 0.43 seconds, as shown in FIG. 7 (A). It was confirmed that the convergence to the target value was almost complete, and that the measured ZMP value was also correctly corrected to the ZMP target value, as shown in Fig. 7 (B). In FIG. 8, the ZMP target value remained largely deviated from the ZMP target value without the ZMP compensation described above.
- the overall mass was 1370 g, the total height was 30.0 cm, the foot bottom shape was 6.0 cm in the roll direction (y-direction), and the pitch direction (x direction) was 8.
- the ZMP measured value of the ZMP compensation according to the present invention was larger than that without ZMF compensation, as shown in Fig. 9. It is clear that the robot has improved walking stability. Further, when an experiment was conducted on the disturbance during the stepping operation in the same manner as in the simulation experiment described above by an actual machine experiment, as shown in FIG.
- the ZMP measurement value was The MP target value is reliably approached, the ZMP error is approaching zero (see Fig. 11), and it can be seen that the walking stability of the robot is improved.
- the robot fell over after about 0.5 seconds.
- the present invention is not limited to this, and the walking stability of the bipedal walking robot 10 is similarly improved in the X z plane. It is clear. Further, in the above-described embodiment, the case where the present invention is applied to a bipedal walking robot has been described. However, the present invention is not limited to this. It is clear that the present invention can be applied to a bipedal locomotion type mobile device adapted to walk.
- the ZMP actual measurement value detected by the ZMP detection sensor is compared with the ZMP target value calculated by the ZMP conversion unit from the gait data, and the ZMP compensation unit
- the ZMP target value is compensated by correcting the target angular velocity and target angular acceleration of the gait data from the gait generator to control the inertial force generated in the mobile device.
- the actual measurement error of the ZMP is converged to zero without changing the motion trajectories of the legs and the feet, thereby stabilizing the main body, preferably the upper body of the robot.
- the target angle trajectory of the gait is not changed, and the motion trajectories of the main body and legs of the moving device such as a robot are determined by the gait data. It does not deviate from the predetermined motion trajectory, for example, even if the mobile device has a fixed landing position such as a stepping stone, or if it climbs over an obstacle or gets under it. Therefore, it is possible to perform walking control reliably.
- ZMP compensation is performed by using gait data generated by the gait generator, it does not depend on the gait data generation method. Thus, Z MP compensation can be simplified. Furthermore, when compensating for ZMP, the target angle trajectory of gait data is not changed, so it is used for conventional compensation. There is no need to detect the inclination of the upper body to compensate for the upper body, and ZMP can be compensated with a simple configuration. '' Industrial applicability
- the gait that is, the walking stability which can implement
Description
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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KR10-2003-7000964A KR100476644B1 (ko) | 2001-06-07 | 2002-06-03 | 2각 보행식 이동 장치 및 그 보행 제어 장치 및 보행 제어방법 |
DE60233566T DE60233566D1 (de) | 2001-06-07 | 2002-06-03 | Mit zwei beinen gehende vorrichtung; gehsteuervorrichtung und gehsteuerverfahren dafür |
US10/450,704 US6943520B2 (en) | 2001-06-07 | 2002-06-03 | Two-legs walking type moving device, method and device for controlling its walking |
EP02730871A EP1393866B1 (en) | 2001-06-07 | 2002-06-03 | Apparatus walking with two legs; walking control apparatus; and walking control method thereof |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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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 |
JP2001-173262 | 2001-06-07 |
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WO2002100606A1 true WO2002100606A1 (fr) | 2002-12-19 |
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PCT/JP2002/005422 WO2002100606A1 (fr) | 2001-06-07 | 2002-06-03 | Appareil marchant sur deux jambes, et appareil et procede de commande de marche |
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US (1) | US6943520B2 (ja) |
EP (1) | EP1393866B1 (ja) |
JP (1) | JP3760186B2 (ja) |
KR (1) | KR100476644B1 (ja) |
DE (1) | DE60233566D1 (ja) |
TW (1) | TW544385B (ja) |
WO (1) | WO2002100606A1 (ja) |
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WO2003068462A1 (fr) * | 2002-02-18 | 2003-08-21 | Japan Science And Technology Agency | Dispositif locomoteur marchant sur deux jambes et organe de commande associe |
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Also Published As
Publication number | Publication date |
---|---|
TW544385B (en) | 2003-08-01 |
US20040051493A1 (en) | 2004-03-18 |
EP1393866A4 (en) | 2006-05-10 |
EP1393866B1 (en) | 2009-09-02 |
JP2002361574A (ja) | 2002-12-18 |
US6943520B2 (en) | 2005-09-13 |
KR100476644B1 (ko) | 2005-03-17 |
KR20030029788A (ko) | 2003-04-16 |
DE60233566D1 (de) | 2009-10-15 |
EP1393866A1 (en) | 2004-03-03 |
JP3760186B2 (ja) | 2006-03-29 |
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