[go: up one dir, main page]

MX2016013020A - Robot humanoide con ruedas omnidireccionales basado en un posición predictiva lineal y un controlador de velocidad. - Google Patents

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

Info

Publication number
MX2016013020A
MX2016013020A MX2016013020A MX2016013020A MX2016013020A MX 2016013020 A MX2016013020 A MX 2016013020A MX 2016013020 A MX2016013020 A MX 2016013020A MX 2016013020 A MX2016013020 A MX 2016013020A MX 2016013020 A MX2016013020 A MX 2016013020A
Authority
MX
Mexico
Prior art keywords
commands
position sensor
omnidirectional
humanoid robot
base
Prior art date
Application number
MX2016013020A
Other languages
English (en)
Inventor
LAFAYE Jory
GOUAILLIER David
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 MX2016013020A publication Critical patent/MX2016013020A/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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • 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
    • 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
    • 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)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

El objeto de la invención es un robot humanoide (100) con un cuerpo (190) unido a una base en contacto con el suelo móvil y omnidireccional (140), y provisto de: un sensor de posición del cuerpo y un sensor de posición del cuerpo y un sensor de posición de la base para proporcionar mediciones, actuadores (212) que comprenden al menos 3 ruedas (141) situadas en la base móvil omnidireccional, extractores (211) para convertir las mediciones en datos útiles, un controlador para calcular comandos de posición, velocidad y aceleración a partir de los datos útiles por medio de un modelo de robot y unas referencias de posición y velocidad ordenadas previamente, un medio para convertir los comandos en instrucciones para los actuadores, caracterizado porque el modelo de robot es un modelo de doble punto material, y porque los comandos se basan en una ley de control predictivo de modelo lineal con un tiempo discreto según un periodo de tiempo de muestreo y un número de muestras previstas, y se expresa en forma de fórmula de optimización cuadrática con: una suma ponderada de objetivos, un conjunto de restricciones lineales predefinidas.
MX2016013020A 2014-04-17 2015-04-17 Robot humanoide con ruedas omnidireccionales basado en un posición predictiva lineal y un controlador de velocidad. MX2016013020A (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14305584.6A EP2933068B1 (en) 2014-04-17 2014-04-17 Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller
PCT/EP2015/058367 WO2015158884A2 (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
MX2016013020A true MX2016013020A (es) 2017-10-04

Family

ID=50588608

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2016013020A MX2016013020A (es) 2014-04-17 2015-04-17 Robot humanoide con ruedas omnidireccionales basado en un posición predictiva lineal y un controlador de velocidad.

Country Status (13)

Country Link
US (1) US10293486B2 (es)
EP (1) EP2933068B1 (es)
JP (1) JP6423075B2 (es)
KR (1) KR101942167B1 (es)
CN (1) CN106794576B (es)
AU (1) AU2015248710B2 (es)
CA (1) CA2946047C (es)
HK (1) HK1216404A1 (es)
MX (1) MX2016013020A (es)
NZ (1) NZ725276A (es)
RU (1) RU2680628C2 (es)
SG (1) SG11201608202YA (es)
WO (1) WO2015158884A2 (es)

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11014247B2 (en) 2016-04-29 2021-05-25 Softbank Robotics Europe Mobile robot with enhanced balanced motion and behavior capabilities
CN106426197B (zh) * 2016-09-14 2018-12-11 中国兵器装备集团自动化研究所 一种可变服务机器人
US10493617B1 (en) 2016-10-21 2019-12-03 X Development Llc Robot control
KR102660834B1 (ko) * 2016-12-23 2024-04-26 엘지전자 주식회사 안내 로봇
WO2018132363A1 (en) * 2017-01-10 2018-07-19 Intuition Robotics, Ltd. A device for performing emotional gestures to interact with a user
JP7000704B2 (ja) * 2017-05-16 2022-01-19 富士フイルムビジネスイノベーション株式会社 移動式サービス提供装置及びプログラム
CN109991989B (zh) * 2017-12-29 2021-12-17 深圳市优必选科技有限公司 机器人空闲状态下的动态平衡方法、装置及存储介质
WO2019169379A1 (en) 2018-03-02 2019-09-06 Intuition Robotics, Ltd. A method for adjusting a device behavior based on privacy classes
CN109782759B (zh) * 2019-01-08 2021-11-02 华侨大学 一种轮式移动机器人的近似解耦、快速轨迹跟踪控制方法
CN109885052B (zh) * 2019-02-26 2022-03-25 华南理工大学 基于全向移动机器人运动学建模的误差模型预测控制方法
WO2020248130A1 (zh) * 2019-06-11 2020-12-17 深圳市大疆创新科技有限公司 可移动平台的控制方法、设备、可移动平台及存储介质
RU2731793C1 (ru) * 2019-09-17 2020-09-08 Федеральное государственное бюджетное образовательное учреждение высшего образования "Национальный государственный университет физической культуры, спорта и здоровья имени П.Ф. Лесгафта, Санкт-Петербург" Устройство дистанционного измерения кинематических характеристик 3D движения человека, в том числе антропоморфного механизма
KR102492869B1 (ko) * 2020-10-27 2023-01-31 한국과학기술연구원 영공간으로 투영된 작업 공간을 활용한 볼봇의 자세 균형 제어 방법 및 이를 이용하는 제어 시스템
RU2749202C1 (ru) * 2020-12-07 2021-06-07 Общество с ограниченной ответственностью «РобоСиВи» Способ планирования движения робота и мобильный робот
CN112666939B (zh) * 2020-12-09 2021-09-10 深圳先进技术研究院 一种基于深度强化学习的机器人路径规划算法
CN112987769B (zh) * 2021-02-22 2022-07-05 武汉科技大学 四足机器人在变刚度地形稳定过渡的腿部主动调节方法
CN113601504A (zh) * 2021-08-04 2021-11-05 之江实验室 机器人肢体动作的控制方法及装置、电子设备、存储介质
CN113561189B (zh) * 2021-09-27 2021-12-31 深圳市优必选科技股份有限公司 冗余度机器人的关节加速度规划方法、装置、设备及介质
CN113791535B (zh) * 2021-09-29 2024-04-19 北京布科思科技有限公司 轨迹跟随实时控制方法、装置和控制系统以及存储介质
CN114147710B (zh) * 2021-11-27 2023-08-11 深圳市优必选科技股份有限公司 机器人的控制方法、装置、机器人及存储介质
CN114654462A (zh) * 2022-02-28 2022-06-24 电子科技大学 一种稳定运输的送餐机器人
CN115407791B (zh) * 2022-08-19 2023-12-12 沈阳工业大学 一种考虑重心偏移影响的步行训练机器人轨迹跟踪方法
CN115958575B (zh) * 2023-03-16 2023-06-02 中国科学院自动化研究所 类人灵巧操作移动机器人
CN116382101B (zh) * 2023-06-05 2023-09-01 成都信息工程大学 考虑不确定性的轮式移动机器人自适应控制方法及系统
USD1094503S1 (en) * 2024-01-11 2025-09-23 Qiheng Huang Intelligent robot
USD1094504S1 (en) * 2024-01-15 2025-09-23 Qiheng Huang Intelligent robot
CN119748425B (zh) * 2024-11-14 2025-08-12 北京藦卡机器人科技有限公司 基于模型预测控制的机器人主动柔顺控制方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003330539A (ja) * 2002-05-13 2003-11-21 Sanyo Electric Co Ltd 自律移動ロボットおよびその自律移動方法
JP4613539B2 (ja) * 2004-07-16 2011-01-19 トヨタ自動車株式会社 ロボットの動作計画方法
JP2006136962A (ja) * 2004-11-11 2006-06-01 Hitachi Ltd 移動ロボット
US7606411B2 (en) * 2006-10-05 2009-10-20 The United States Of America As Represented By The Secretary Of The Navy Robotic gesture recognition system
FR2920686B1 (fr) * 2007-09-12 2010-01-15 Aldebaran Robotics Robot apte a echanger des programmes informatiques codant pour des comportements
WO2009143377A2 (en) * 2008-05-21 2009-11-26 Georgia Tech Research Corporation Force balancing mobile robotic system
JP4821865B2 (ja) * 2009-02-18 2011-11-24 ソニー株式会社 ロボット装置及びその制御方法、並びにコンピューター・プログラム
FR2946160B1 (fr) 2009-05-26 2014-05-09 Aldebaran Robotics Systeme et procede pour editer et commander des comportements d'un robot mobile.
US8418705B2 (en) * 2010-07-30 2013-04-16 Toyota Motor Engineering & Manufacturing North America, Inc. Robotic cane devices
CA2720886A1 (en) * 2010-11-12 2012-05-12 Crosswing Inc. Customizable virtual presence system
CA2734318C (en) * 2011-03-17 2017-08-08 Crosswing Inc. Delta robot with omni treaded wheelbase
KR20130074143A (ko) * 2011-12-26 2013-07-04 평화산업주식회사 옴니인 휠을 구비한 라이더 로봇
KR20130074144A (ko) * 2011-12-26 2013-07-04 평화산업주식회사 무인 주행 라이더 로봇
JP5807591B2 (ja) * 2012-03-06 2015-11-10 トヨタ自動車株式会社 脚式歩行ロボットおよびその重心軌道生成方法

Also Published As

Publication number Publication date
HK1216404A1 (en) 2016-11-11
AU2015248710B2 (en) 2018-02-08
CA2946047C (en) 2018-11-13
RU2016144026A3 (es) 2018-05-22
CA2946047A1 (en) 2015-10-22
SG11201608202YA (en) 2016-10-28
CN106794576B (zh) 2019-06-21
RU2680628C2 (ru) 2019-02-25
KR101942167B1 (ko) 2019-04-11
WO2015158884A3 (en) 2015-12-10
EP2933068B1 (en) 2021-08-18
US10293486B2 (en) 2019-05-21
WO2015158884A2 (en) 2015-10-22
AU2015248710A1 (en) 2016-11-03
KR20170029408A (ko) 2017-03-15
US20170144306A1 (en) 2017-05-25
EP2933068A1 (en) 2015-10-21
NZ725276A (en) 2018-03-23
CN106794576A (zh) 2017-05-31
JP2017515698A (ja) 2017-06-15
RU2016144026A (ru) 2018-05-22
JP6423075B2 (ja) 2018-11-14

Similar Documents

Publication Publication Date Title
MX2016013020A (es) Robot humanoide con ruedas omnidireccionales basado en un posición predictiva lineal y un controlador de velocidad.
MX2016013016A (es) Robot humanoide con ruedas omnidireccionales basado en una posición predictiva lineal y un controlador de velocidad.
Liu et al. Distributed formation control of nonholonomic mobile robots without global position measurements
EP3679400A4 (en) MOTION DETECTION USING A CENTRAL CONTROLLER AND USING DYNAMIC BEAM FORMATION INFORMATION
EP3538329A4 (en) Social robot with environmental control feature
EP3443420A4 (en) OPTIMIZING A STORAGE DESIGN BASED ON PERSONALIZABLE OBJECTIVES
MX372615B (es) Dispositivo de soldadura
EP3589998A4 (en) HIGH-SPEED SWEEPING SYSTEM WITH ACCELERATION TRACKING
JP2019525342A5 (ja) 自律移動ロボットを制御する方法
EP3503837A4 (en) METHOD FOR VISUALIZING AND PRODUCING AN ORIENTER BY MODIFYING THE TEETH POSITION
EP3441197A4 (en) HUMANOID ROBOT
DE112017005954T8 (de) Autonom agierender Roboter, der die Pupille verändert
EP3411162C0 (de) Modellprädiktive bandlageregelung
TW201613731A (en) Robot
EP3420327A4 (en) ANALYSIS OF THE BASIC FEATURES OF PROCESS DEVIATIONS IN SCATTEROMETRY
EP3790709A4 (en) Robotic motion planning
FR3036473B1 (fr) Procede de mesure de la position d'une structure mobile
FR3039269B1 (fr) Capteur de mesure de la position absolue d'un mobile
WO2017188114A3 (ja) エンコーダ装置、駆動装置、ステージ装置、及びロボット装置
Xu et al. Function-segment artificial moment method for sensor-based path planning of single robot in complex environments
FR3018057B1 (fr) Assistance au deplacement d'un objet roulant par un asservissement utilisant l'acceleration de l'objet roulant
EP3467288A4 (en) THERMOELECTRIC POWER GENERATION DEVICE
FR3018888B1 (fr) Procede et dispositif de controle des deplacements des fourchettes d'une boite de vitesses robotisee, par reapprentissage
FR3027405B1 (fr) Determination du sens de deplacement d'un vehicule
WO2015063493A3 (en) Pendulum bob