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WO2024135447A1 - Système de commande et procédé de commande pour robot marcheur - Google Patents

Système de commande et procédé de commande pour robot marcheur Download PDF

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Publication number
WO2024135447A1
WO2024135447A1 PCT/JP2023/044354 JP2023044354W WO2024135447A1 WO 2024135447 A1 WO2024135447 A1 WO 2024135447A1 JP 2023044354 W JP2023044354 W JP 2023044354W WO 2024135447 A1 WO2024135447 A1 WO 2024135447A1
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WIPO (PCT)
Prior art keywords
walking robot
actuator
motor control
control device
controller
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/JP2023/044354
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English (en)
Japanese (ja)
Inventor
雄樹 日下部
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.)
THK Co Ltd
Original Assignee
THK 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 THK Co Ltd filed Critical THK Co Ltd
Priority to DE112023005336.7T priority Critical patent/DE112023005336T5/de
Priority to CN202380087654.XA priority patent/CN120344353A/zh
Priority to JP2024565827A priority patent/JPWO2024135447A1/ja
Publication of WO2024135447A1 publication Critical patent/WO2024135447A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • 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
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs

Definitions

  • the present invention relates to a control system and a control method for a walking robot.
  • Patent Document 1 discloses a bipedal robot that has a waist and two legs. This bipedal robot walks on two legs by repeatedly alternating between standing and swinging.
  • Each joint of a walking robot is equipped with an actuator to drive it.
  • actuators to drive it.
  • power must be supplied to the actuators to support the bipedal robot's own weight, which poses the problem of reduced energy efficiency.
  • the walking robot in Patent Document 1 has a spring connected in parallel to the actuator at the knee joint of the leg.
  • the spring force of the spring acts in the direction of extending the knee joint.
  • the walking robot described in Patent Document 1 has the problem that when the walking robot falls over, the elastic energy stored in the spring is suddenly released, causing the posture of the walking robot to change suddenly. For example, if a spring is provided at the knee joint of the leg, the knee joint will suddenly stretch. This problem arises particularly when the reduction ratio of the actuator is made small and the walking robot is moved at high speed.
  • the present invention was made in consideration of the above problems, and aims to provide a control system and control method for a walking robot that prevents springs from suddenly changing the posture of the walking robot when the walking robot falls over.
  • one aspect of the present invention is a control system for a walking robot that includes an actuator that drives a joint and a spring that applies a spring force to the joint, a motor control device that drives the actuator, and a controller that transmits a command signal to control the motor control device, and when the controller determines that the walking robot has fallen over, the motor control device brakes the actuator.
  • Another aspect of the present invention is a control system for a walking robot that includes an actuator for driving a knee joint and a spring for applying a spring force to the knee joint, the control system further including a motor control device for driving the actuator, the motor control device braking the actuator to prevent the knee joint from being extended by the spring.
  • the motor control device brakes the actuator, i.e., transitions it to a braking state, so that the elastic energy stored in the spring can be released while preventing abrupt release, preventing the spring from causing abrupt changes in the posture of the walking robot. Furthermore, if the joints are locked, the elastic energy remains stored in the spring, making the walking robot more susceptible to damage due to external forces associated with a fall. By releasing the elastic energy stored in the spring while preventing abrupt release, the issues that arise when the joints are locked can be resolved.
  • the motor control device brakes the actuator, i.e., transitions it to a brake state, so that the elastic energy stored in the spring can be released while suppressing abrupt release, and the knee joint of the walking robot can be prevented from being suddenly extended by the spring.
  • the motor control device may brake the actuator when the robot falls over, or when the robot is not falling over and in at least one of the cases shown in Figures 6 to 8 described below.
  • FIG. 1 is a schematic diagram of a walking robot according to an embodiment of the present invention.
  • 3A and 3B are diagrams illustrating a knee joint of the walking robot of the present embodiment.
  • 1 is a block diagram showing a configuration of a control system for a walking robot according to an embodiment of the present invention.
  • 1 is a block diagram showing a configuration of a control system for a walking robot according to an embodiment of the present invention.
  • 13 is a block diagram showing a flow in which the actuator transitions to a braking state (when the controller determines that the walking robot is falling over).
  • FIG. 13 is a block diagram showing a flow in which the actuator transitions to a braking state (when the motor control device detects an abnormality in the actuator or itself).
  • FIG. 13 is a block diagram showing a flow in which the actuator transitions to a braking state (when an operator inputs a command to stop the walking robot). 13 is a block diagram showing a flow in which the actuator transitions to a braking state (when a test device operating a walking robot transmits a stop command).
  • FIG. 1 shows a schematic diagram of a walking robot 1 according to this embodiment.
  • the direction of movement of the walking robot 1 is the X-axis direction
  • the left-right direction is the Y-axis direction
  • the up-down direction is the Z-axis direction.
  • FIG. 1 shows a walking robot 1 with only a lower body and no upper body, the walking robot 1 may also have an upper body.
  • the walking robot 1 of this embodiment comprises a waist 2 and a pair of left and right legs 3L, 3R connected to the lower end of the waist 2.
  • the legs 3L, 3R comprise thigh links 4L, 4R, lower leg links 5L, 5R, and feet 6L, 6R.
  • the thigh links 4L, 4R are connected to the waist 2 via hip joints 11L, 11R with three degrees of freedom.
  • the lower leg links 5L, 5R are connected to the thigh links 4L, 4R via knee joints 12L, 12R with one degree of freedom.
  • the feet 6L, 6R are connected to the lower leg links 5L, 5R via ankle joints 13L, 13R with two degrees of freedom.
  • the hip joints 11L, 11R include actuators 11a, 11a that rotate the thigh links 4L, 4R around the yaw axis (Z-axis) relative to the waist 2, actuators 11b, 11b that rotate the thigh links 4L, 4R around the roll axis (X-axis) relative to the waist 2, and actuators 11c, 11c that rotate the thigh links 4L, 4R around the pitch axis (Y-axis) relative to the waist 2.
  • the knee joints 12L, 12R include actuators 12a, 12a that rotate the lower leg links 5L, 5R around the pitch axis (Y axis) relative to the thigh links 4L, 4R.
  • the ankle joints 13L, 13R include actuators 13a, 13a that rotate the feet 6L, 6R around the roll axis (X axis) relative to the lower leg links 5L, 5R, and actuators 13b, 13b that rotate the feet 6L, 6R around the pitch axis (Y axis) relative to the lower leg links 5L, 5R.
  • Each of the actuators 11a to 11c, 12a, 13a, and 13b is equipped with a motor such as a brushless DC servo motor and a reducer.
  • the actuator is unitized with a motor control device 8 (see Figure 3) that drives the actuator and a position detector 9 (see Figure 3) that detects the rotational position of the motor.
  • legs 3L and 3R each have six actuators 11a-11c, 12a, 13a, and 13b, giving them a total of 12 degrees of freedom.
  • the controller 7 see Figure 3
  • the motor control device 8 see Figure 3
  • a controller 7 is provided on the waist 2.
  • the waist 2 is provided with various sensors 10, such as an acceleration sensor that detects the acceleration of the center of gravity of the walking robot 1, a gyro sensor that detects the inclination angle of the walking robot, and an inertial measurement unit (IMU) that combines these sensors into a unit.
  • sensors 10 such as an acceleration sensor that detects the acceleration of the center of gravity of the walking robot 1, a gyro sensor that detects the inclination angle of the walking robot, and an inertial measurement unit (IMU) that combines these sensors into a unit.
  • IMU inertial measurement unit
  • FIG. 2 shows knee joints 12L, 12R of legs 3L, 3R. 4L, 4R are thigh links, 5L, 5R are crus links, and 12a is an actuator for knee joints 12L, 12R.
  • a spring 15 is provided in parallel with actuator 12a in knee joints 12L, 12R. Spring 15 exerts a spring force in a direction in which knee joints 12L, 12R extend.
  • Spring 15 is a torsion spring, a coil spring, a leaf spring, or the like. Note that the joints in which spring 15 is provided are not limited to knee joints 12L, 12R, and may be, for example, pitch axes and roll axes of hip joints 11L, 11R, or arm joints of the upper body.
  • FIGS. 3 and 4 are block diagrams showing the configuration of the control system of the walking robot 1 of this embodiment.
  • the control system includes a controller 7 and a motor control device 8.
  • the controller 7 transmits a command signal to the motor control device 8.
  • the motor control device 8 drives the actuator 12a based on the command signal received from the controller 7.
  • the controller 7 and the motor control device 8 are connected by a communication line to enable transmission and reception.
  • the controller 7 has a communication control unit 21 that transmits and receives data and controls communication.
  • the motor control device 8 has a communication control unit 22 that transmits and receives data and controls communication.
  • the communication control units 21 and 22 also have the function of detecting communication abnormalities.
  • motor control device 8 for the knee joints 12L, 12R, but twelve motor control devices 8 are provided, corresponding to the number of actuators 11a-11c, 12a, 13a, 13b.
  • the motor control devices 8 for the other joints have substantially the same configuration as the motor control device 8 for the knee joints 12L, 12R. (Motor control device)
  • a command signal is sent from the controller 7 to the motor control device 8.
  • the main command information included in the command signal is a walking command for making the walking robot 1 walk, and a stop command for braking the actuator 12a.
  • the walking command mainly includes a position command to the rotation control unit 30.
  • the motor control device 8 includes a rotation control unit 30 that generates a torque command for operating the motor of the actuator 12a, and a drive unit 35 that generates a drive voltage for energizing the motor of the actuator 12a based on the torque command.
  • the rotation control unit 30 controls the position, speed, and torque of the motor of the actuator 12a.
  • the rotation control unit 30 has a position control unit 31 that controls the position, a speed control unit 32 that controls the speed, a torque control unit 33 that controls the torque, and a spring torque calculation unit 34.
  • the spring torque calculation unit 34 may be provided in the controller 7.
  • the motor control device 8 controls the actuator 12a so that the rotational position of the motor follows the received position command Pr.
  • the communication control unit 22 outputs the received position command Pr to the position control unit 31.
  • the position control unit 31 calculates a position deviation based on the position command Pr and the position detection information Pd from the position detector 9, and multiplies the position deviation by a position gain to calculate a speed command Sr.
  • the speed control unit 32 calculates speed information by differentiating the position detection information Pd from the position detector 9.
  • the speed control unit 32 also calculates a speed deviation based on the speed command Sr and the speed information, and calculates a torque command Tr by proportionally and integrally processing the speed deviation.
  • the spring torque calculation unit 34 calculates the spring torque based on the position detection information from the position detector 9, calculates the correction torque Td based on the spring torque, and inputs the correction torque Td to the torque control unit 33.
  • the torque control unit 33 calculates the voltage command Dr based on the torque command Tr and the correction torque Td.
  • the spring torque calculation unit 34 may calculate the corrected position and/or corrected speed based on the spring torque and input these to the position control unit 31 and/or the speed control unit 32. As described above, the spring torque calculation unit 34 may be provided in the controller 7, and the controller 7 may transmit the corrected torque, corrected position, and/or corrected speed to the motor control device 8.
  • the rotation control unit 30 and the communication control unit 22 have a CPU, ROM, RAM, etc., which are connected via a bus.
  • the position control unit 31, speed control unit 32, torque control unit 33, spring torque calculation unit 34, and communication control unit 22 of the rotation control unit 30 are realized by the CPU executing a program stored in the ROM.
  • the drive unit 35 generates a drive voltage Vd based on the voltage command Dr output from the rotation control unit 30.
  • the drive unit 35 has an inverter composed of a pulse width modulation (PWM) circuit and a switching element.
  • PWM pulse width modulation
  • the drive unit 35 generates a pulse signal that is pulse width modulated by the PWM circuit in response to the voltage command Dr, and generates the drive voltage Vd by controlling the on/off of the inverter's switching elements with the pulse signal.
  • the drive unit 35 applies the drive voltage Vd to the windings of each phase to drive the actuator 12a.
  • the controller 7 determines that the walking robot 1 has fallen over, the controller 7 sends a stop command to the motor control device 8.
  • the motor control device 8 switches control from a walking mode in which the walking robot 1 walks to a stop mode in which the actuator 12a is braked.
  • a stop command is input to the drive unit 35, the inverter switching element is used to short-circuit the motor windings, and the winding resistance is used to brake the motor.
  • Control in stop mode is not limited to the above, and a zero speed command may be input to the speed control unit 32, which may then output a braking torque that stops the rotation of the motor.
  • the control in the stop mode is not limited to the above, and the motor control device 8 may be provided with a dynamic braking circuit 23 (see the dashed line in Figure 3).
  • the dynamic braking circuit 23 has a switch 24 and a resistor 25 for each phase of the motor winding. One end of the switch 24 is connected to the winding, and the other end of the switch 24 is connected to the resistor 25. The other ends of the resistors 25 are connected to each other.
  • the on and off of the switch 24 is controlled by the communications control unit 22. By turning the switch 24 on and off by the communications control unit 22, it is possible to switch between direct connection and disconnection of the resistor 25. (controller)
  • the controller 7 receives walking commands from a host computer, an operator, etc., and transmits position commands (command signals) to the motor control device 8.
  • the controller 7 includes a gait generator 41, a stabilization controller 42, a joint angle calculator 43, and a communication controller 21.
  • the gait generator 41 generates a gait to satisfy a walking command.
  • the walking command is a set of a stride length and a turning angle.
  • the gait is a set of a waist position/posture trajectory, a foot position/posture trajectory, and a ZMP trajectory.
  • the stabilization control unit 42 estimates the posture of the walking robot 1 based on information from the various sensors 10 and modifies the gait generated by the gait generation unit 41 to prevent the walking robot 1 from falling over due to unexpected disturbances.
  • the accuracy of posture estimation can be improved by calculating the geometric position of each link of the legs 3L, 3R based on position detection information from the position detector 9 as well as information from the various sensors 10.
  • the stabilization control unit 42 determines that the walking robot 1 has fallen over. At this time, the controller 7 sends a stop command (command signal) to the motor control device 8.
  • the stabilization control unit 42 may determine that the walking robot 1 has fallen over when the estimated posture of the walking robot 1 has tilted by a predetermined amount or more. The stabilization control unit 42 may also control the walking robot 1 to reduce the impact on the walking robot 1 when it falls over, and then determine that the walking robot 1 has fallen over. Furthermore, the stabilization control unit 42 may monitor the power supplied to the actuators of all axes, and determine that the walking robot 1 has fallen over based on a voltage drop or current state of the power supply.
  • the joint angle calculation unit 43 converts the corrected gait generated by the stabilization controller 42 into position commands for the actuators 11a-11c, 12a, 13a, and 13b of each joint through inverse kinematics calculations.
  • the communication control unit 21 transmits a position command to the motor control device 8.
  • the gait generator 41, the stabilization control unit 42, the joint angle calculation unit 43, and the communication control unit 21 each have a CPU, a ROM, a RAM, etc., which are connected via a bus. These are realized by the CPU executing a program stored in the ROM. (Flow of the actuator transitioning to the brake state (when the controller determines that the walking robot is falling over))
  • the controller 7 estimates the posture of the walking robot 1 based on information (1) from various sensors 10.
  • the controller 7 judges that the walking robot 1 has fallen over.
  • the controller 7 transmits a stop command to the motor control devices 8 of all axes that drive the actuators 11a to 11c, 12a, 13a, and 13b (2).
  • the motor control devices 8 of all axes brake the actuators 11a to 11c, 12a, 13a, and 13b of all axes based on the stop command from the controller 7.
  • the braking states of the actuators 11a to 11c, 12a, 13a, and 13b are notified from the controller 7 to a monitoring PC 51 (personal computer) and recorded in the monitoring PC 51 (3). (Flow of actuator transition to brake state (when the motor control device detects an abnormality in the actuator or itself))
  • the motor control device 8 brakes the actuators 11a-11c, 12a, 13a, and 13b not only when the controller 7 determines that the walking robot 1 has fallen over, but also in the following cases:
  • the motor control device 8 when the motor control device 8 detects an abnormality in the motor (overcurrent in the motor, an abnormality in the position detector 9, etc.) or in itself (damage, etc.), the motor control device 8 that detected the abnormality cuts off the power supply to the actuators 11a-11c, 12a, 13a, 13b and brakes the actuators 11a-11c, 12a, 13a, 13b. Then, the motor control device 8 that detected the abnormality sends abnormality information to the controller 7 (1).
  • the controller 7 When the controller 7 receives the abnormality information, it determines that it is impossible to continue operating the walking robot 1, and transmits a stop command to the motor control devices 8 in which no abnormality has been detected (2).
  • the motor control devices 8 in which no abnormality has been detected brake the actuators 11a-11c, 12a, 13a, and 13b based on the stop command from the controller 7. (Flow of the actuator transitioning to the brake state (when the motor control device detects an abnormality in receiving the controller's command signal))
  • the motor control device 8 detects an abnormality in the reception of the command signal from the controller 7.
  • the controller 7 periodically transmits a command signal to the motor control device 8.
  • the controller 7 and the motor control device 8 periodically check the communication, and if there is no response within a predetermined time, it is determined that there is an abnormality in the communication line inside the walking robot 1.
  • the motor control device 8 that detects the abnormality cuts off the power supply to the actuators 11a to 11c, 12a, 13a, and 13b, and brakes the actuators 11a to 11c, 12a, 13a, and 13b. Then, the motor control device 8 that detects the abnormality transmits abnormality information to the controller 7 (1).
  • the controller 7 transmits a stop command to the motor control device 8 that does not detect an abnormality (2).
  • the motor control device 8 that does not detect an abnormality brakes the actuators 11a to 11c, 12a, 13a, and 13b based on the stop command from the controller 7. (Flow of the actuator transitioning to the brake state (when the operator inputs a command to stop the walking robot))
  • the motor control device 8 brakes the actuators 11a-11c, 12a, 13a, and 13b of all axes.
  • the operator determines that the walking robot 1 should be stopped, the operator inputs the stop command to an operating device such as a personal computer.
  • the operating device is connected to a monitoring PC 51 and a controller 7 via a network.
  • the stop command input by the operator is transmitted to the controller 7 via the network ((1), (2)).
  • the controller 7 receives the stop command, it transmits stop commands to the motor control devices 8 of all axes (3). (Flow of the actuator transitioning to the brake state (when the test device operating the walking robot sends a stop command))
  • the motor control device 8 brakes the actuators 11a-11c, 12a, 13a, 13b of all axes.
  • Sensors and switches are attached to the fences and doors of the test device 52 (a test device equipped with a crane for hoisting the walking robot 1). The sensors and switches are connected to the monitoring PC 51 and the controller 7 via a network.
  • the test device 52 sends a stop command to the controller 7 ((1), (2)).
  • the controller 7 receives the stop command, it sends stop commands to the motor control devices 8 of all axes (3).
  • the motor control device 8 brakes the actuator 12a, i.e., switches it to a brake state, so that the elastic energy stored in the spring 15 can be released while suppressing sudden release, and the spring 15 can be prevented from suddenly changing the posture of the legs 3L, 3R of the walking robot 1. Furthermore, if the knee joints 12L, 12R are locked, elastic energy remains stored in the spring 15, making the walking robot 1 more susceptible to damage due to external forces associated with a fall. By releasing the elastic energy stored in the spring 15 while suppressing sudden release, these problems that arise when the knee joints 12L, 12R are locked can be solved.
  • the motor control device 8 brakes the knee joints 12L, 12R, which significantly change the posture of the legs 3L, 3R, effectively preventing the posture of the legs 3L, 3R from suddenly changing.
  • the controller 7 determines that the walking robot 1 has fallen over, it brakes not only the actuator 12a of the knee joints 12L, 12R, but also multiple actuators 11a-11c, 12a, 13a, 13b (e.g., all axes), so that the legs 3L, 3R can be braked more safely.
  • the controller 7 brakes the actuators 11a-11c, 12a, 13a, and 13b not only when it determines that the walking robot 1 has fallen over, but also in the cases shown in Figures 6 to 8, so that the legs 3L and 3R can be braked more safely.
  • the walking robot may also be a quadrupedal walking robot.
  • the actuator directly drives the leg joints, but the actuator may also drive the joints via a link mechanism.
  • one or more four-joint rotary link mechanisms including a thigh link and a shank link may be constructed, and the knee joint may be driven by driving one or more four-joint rotary link mechanisms with an actuator.
  • the actuator may be disposed in the thigh link or the shank link.
  • the actuator is equipped with a motor and a reducer, but the actuator may also be equipped with a motor and a ball screw.

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

Abstract

L'invention concerne un système de commande pour un robot marcheur, dans lequel, lorsque le robot marcheur chute, un ressort empêche l'orientation de parties de jambe du robot marcheur de changer soudainement. Un système de commande pour un robot marcheur comprend un actionneur (12a) qui entraîne des articulations, et des ressorts qui amènent une force de ressort à agir sur les articulations, le système de commande comprenant un dispositif de commande de moteur (8) qui entraîne l'actionneur (12a), et un dispositif de commande (7) qui transmet un signal d'instruction pour commander le dispositif de commande de moteur (8), et lorsque le dispositif de commande (7) détermine que le robot marcheur a chuté, le dispositif de commande de moteur (8) freine l'actionneur (12a).
PCT/JP2023/044354 2022-12-22 2023-12-12 Système de commande et procédé de commande pour robot marcheur Ceased WO2024135447A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE112023005336.7T DE112023005336T5 (de) 2022-12-22 2023-12-12 Steuersystem und Steuerverfahren für einen Laufroboter
CN202380087654.XA CN120344353A (zh) 2022-12-22 2023-12-12 步行机器人的控制系统及控制方法
JP2024565827A JPWO2024135447A1 (fr) 2022-12-22 2023-12-12

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022205367 2022-12-22
JP2022-205367 2022-12-22

Publications (1)

Publication Number Publication Date
WO2024135447A1 true WO2024135447A1 (fr) 2024-06-27

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PCT/JP2023/044354 Ceased WO2024135447A1 (fr) 2022-12-22 2023-12-12 Système de commande et procédé de commande pour robot marcheur

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JP (1) JPWO2024135447A1 (fr)
CN (1) CN120344353A (fr)
DE (1) DE112023005336T5 (fr)
WO (1) WO2024135447A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001138271A (ja) * 1999-11-12 2001-05-22 Sony Corp 脚式移動ロボット及び脚式移動ロボットの転倒時動作制御方法
JP2003103480A (ja) * 2001-09-27 2003-04-08 Honda Motor Co Ltd 脚式移動ロボットの脚体関節アシスト装置
JP2005144624A (ja) * 2003-11-18 2005-06-09 Sony Corp 脚式移動ロボット
WO2019003402A1 (fr) * 2017-06-29 2019-01-03 株式会社ソニー・インタラクティブエンタテインメント Structure d'articulation de robot
JP2021102254A (ja) * 2019-12-25 2021-07-15 川崎重工業株式会社 ロボット、人型ロボットおよびロボットの倒れ制御方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001138271A (ja) * 1999-11-12 2001-05-22 Sony Corp 脚式移動ロボット及び脚式移動ロボットの転倒時動作制御方法
JP2003103480A (ja) * 2001-09-27 2003-04-08 Honda Motor Co Ltd 脚式移動ロボットの脚体関節アシスト装置
JP2005144624A (ja) * 2003-11-18 2005-06-09 Sony Corp 脚式移動ロボット
WO2019003402A1 (fr) * 2017-06-29 2019-01-03 株式会社ソニー・インタラクティブエンタテインメント Structure d'articulation de robot
JP2021102254A (ja) * 2019-12-25 2021-07-15 川崎重工業株式会社 ロボット、人型ロボットおよびロボットの倒れ制御方法

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JPWO2024135447A1 (fr) 2024-06-27
CN120344353A (zh) 2025-07-18
DE112023005336T5 (de) 2025-10-23

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