ATE485996T1 - Mobile vorrichtung und steuerverfahren dafür - Google Patents

Mobile vorrichtung und steuerverfahren dafür

Info

Publication number
ATE485996T1
ATE485996T1 AT07254967T AT07254967T ATE485996T1 AT E485996 T1 ATE485996 T1 AT E485996T1 AT 07254967 T AT07254967 T AT 07254967T AT 07254967 T AT07254967 T AT 07254967T AT E485996 T1 ATE485996 T1 AT E485996T1
Authority
AT
Austria
Prior art keywords
spatial element
satisfies
contact condition
contact
representative point
Prior art date
Application number
AT07254967T
Other languages
English (en)
Inventor
Makoto Nakamura
Mitsuhide Kuroda
Yasuhiro Sawada
Original Assignee
Honda Motor 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 Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Application granted granted Critical
Publication of ATE485996T1 publication Critical patent/ATE485996T1/de

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
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Vehicle Body Suspensions (AREA)
AT07254967T 2006-12-20 2007-12-20 Mobile vorrichtung und steuerverfahren dafür ATE485996T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2006342638A JP4143103B2 (ja) 2006-12-20 2006-12-20 移動装置、ならびにその制御システム、制御プログラムおよび監督システム

Publications (1)

Publication Number Publication Date
ATE485996T1 true ATE485996T1 (de) 2010-11-15

Family

ID=39280511

Family Applications (1)

Application Number Title Priority Date Filing Date
AT07254967T ATE485996T1 (de) 2006-12-20 2007-12-20 Mobile vorrichtung und steuerverfahren dafür

Country Status (5)

Country Link
US (1) US7529622B2 (de)
EP (1) EP1935768B1 (de)
JP (1) JP4143103B2 (de)
AT (1) ATE485996T1 (de)
DE (1) DE602007010076D1 (de)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
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JP5080333B2 (ja) * 2007-04-06 2012-11-21 本田技研工業株式会社 自律移動体のための物体認識装置
EP2075096A1 (de) * 2007-12-27 2009-07-01 Leica Geosystems AG Verfahren und System zum hochpräzisen Positionieren mindestens eines Objekts in eine Endlage im Raum
JP5104355B2 (ja) * 2008-02-01 2012-12-19 富士通株式会社 ロボット制御装置、ロボット制御方法およびロボット制御プログラム
JP5337408B2 (ja) * 2008-05-28 2013-11-06 村田機械株式会社 自律移動体及びその移動制御方法
JP5208649B2 (ja) * 2008-09-29 2013-06-12 本田技研工業株式会社 移動装置
TWI392983B (zh) * 2008-10-06 2013-04-11 松翰科技股份有限公司 利用音調的自動控制方法及其裝置
JP4998506B2 (ja) * 2009-04-22 2012-08-15 トヨタ自動車株式会社 ロボット制御装置、ロボット制御方法、及び脚式ロボット
JP5310236B2 (ja) * 2009-04-28 2013-10-09 トヨタ自動車株式会社 脚式ロボットとその制御方法
ATE516930T1 (de) * 2009-05-15 2011-08-15 Honda Res Inst Europe Gmbh Autonome roboter mit planung in unvorhersagbaren, dynamischen und komplizierten umgebungen
US8849452B2 (en) * 2009-08-03 2014-09-30 Honda Motor Co., Ltd. Robot and control system
JP5284923B2 (ja) * 2009-10-28 2013-09-11 本田技研工業株式会社 脚式移動ロボットの制御装置
JP5465142B2 (ja) * 2010-09-27 2014-04-09 本田技研工業株式会社 ロボットおよびその行動制御システム
JP5480799B2 (ja) * 2010-12-14 2014-04-23 本田技研工業株式会社 移動装置およびロボットならびにこれらの制御システム
KR20150053860A (ko) * 2013-11-08 2015-05-19 삼성전자주식회사 의료기기의 이동을 제어하는 방법 및 이를 위한 제어장치
US9517561B2 (en) * 2014-08-25 2016-12-13 Google Inc. Natural pitch and roll
JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
JP6647143B2 (ja) * 2016-05-25 2020-02-14 本田技研工業株式会社 機能装置ならびにその制御装置および制御方法
CN107677285B (zh) * 2017-04-11 2019-05-28 平安科技（深圳）有限公司 机器人的路径规划系统及方法
WO2019035362A1 (ja) * 2017-08-18 2019-02-21 三菱電機株式会社 ロボット制御装置およびこれを用いたロボットシステム
WO2026034141A1 (ja) * 2024-08-08 2026-02-12 川崎重工業株式会社 移動体、移動体の制御方法及び移動体の制御プログラム

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JPH07107648B2 (ja) * 1987-09-09 1995-11-15 インターナシヨナル・ビジネス・マシーンズ・コーポレーシヨン 物体間衝突検出装置
US5056031A (en) * 1988-11-12 1991-10-08 Kabushiki Kaisha Toyota Chuo Kenyusho Apparatus for detecting the collision of moving objects
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JPH03116205A (ja) 1989-09-29 1991-05-17 Toshiba Corp 移動経路探索のための自由空間算出装置及び方法
JPH04358209A (ja) * 1991-06-04 1992-12-11 Yamatake Honeywell Co Ltd 障害物回避装置
JPH05250023A (ja) * 1991-10-23 1993-09-28 Sanyo Electric Co Ltd ロボットマニピュレータの経路自動生成法
US5502638A (en) * 1992-02-10 1996-03-26 Honda Giken Kogyo Kabushiki Kaisha System for obstacle avoidance path planning for multiple-degree-of-freedom mechanism
JPH06138941A (ja) * 1992-10-27 1994-05-20 Yamatake Honeywell Co Ltd 障害物回避装置
JP2769972B2 (ja) 1994-03-10 1998-06-25 防衛庁技術研究本部長 不整地移動ロボットの自律走行システム
JP2000153476A (ja) * 1998-09-14 2000-06-06 Honda Motor Co Ltd 脚式移動ロボット
JP2000339029A (ja) * 1999-05-31 2000-12-08 Komatsu Ltd 車両の干渉防止装置
US7353149B2 (en) * 2001-04-25 2008-04-01 Telekinesys Research Limited Method and apparatus for simulating dynamic contact of objects
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US7145305B2 (en) 2002-04-26 2006-12-05 Honda Giken Kogyo Kabushiki Kaisha System for estimating attitude of leg type moving robot itself
US7664572B2 (en) 2002-04-26 2010-02-16 Honda Giken Kogyo Kabushiki Kaisha Control device of legged mobile robot
JPWO2004068399A1 (ja) * 2003-01-31 2006-05-25 松下電器産業株式会社 予測型行動決定装置および行動決定方法
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JP4564447B2 (ja) * 2004-12-14 2010-10-20 本田技研工業株式会社 自律移動ロボット
JP2006239844A (ja) * 2005-03-04 2006-09-14 Sony Corp 障害物回避装置、障害物回避方法及び障害物回避プログラム並びに移動型ロボット装置
JP4311391B2 (ja) * 2005-10-03 2009-08-12 ソニー株式会社 接触形状算出装置及び接触形状算出方法、並びにコンピュータ・プログラム
JP4171510B2 (ja) * 2006-12-20 2008-10-22 本田技研工業株式会社 移動装置、ならびにその制御システム、制御プログラムおよび監督システム
EP1978432B1 (de) * 2007-04-06 2012-03-21 Honda Motor Co., Ltd. Routingvorrichtung für eine autonome mobile Einheit

Also Published As

Publication number Publication date
EP1935768A3 (de) 2009-01-28
EP1935768B1 (de) 2010-10-27
JP2008149436A (ja) 2008-07-03
US20080154430A1 (en) 2008-06-26
US7529622B2 (en) 2009-05-05
DE602007010076D1 (de) 2010-12-09
EP1935768A2 (de) 2008-06-25
JP4143103B2 (ja) 2008-09-03

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