ATE485996T1 - Mobile vorrichtung und steuerverfahren dafür - Google Patents
Mobile vorrichtung und steuerverfahren dafürInfo
- 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
Links
- VJYFKVYYMZPMAB-UHFFFAOYSA-N ethoprophos Chemical compound CCCSP(=O)(OCC)SCCC VJYFKVYYMZPMAB-UHFFFAOYSA-N 0.000 title 1
- 230000001939 inductive effect Effects 0.000 abstract 1
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)
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)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| JPWO2019035362A1 (ja) * | 2017-08-18 | 2019-11-07 | 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 |
Family Cites Families (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6234784A (ja) * | 1985-08-01 | 1987-02-14 | 工業技術院長 | 移動体の移動制御方法 |
| 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 |
| EP0405106A3 (en) * | 1989-06-16 | 1992-04-08 | International Business Machines Corporation | Construction of minkowski sums and derivative morphological combinations of arbitrary polyhedra in cad/cam systems |
| 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 |
| US6484068B1 (en) * | 2001-07-24 | 2002-11-19 | Sony Corporation | Robot apparatus and method for controlling jumping of robot device |
| DE60332233D1 (de) | 2002-04-26 | 2010-06-02 | Honda Motor Co Ltd | System zur selbstbewertung der lage eines mobilen roboters mit beinen |
| JP4225968B2 (ja) | 2002-04-26 | 2009-02-18 | 本田技研工業株式会社 | 脚式移動ロボットの制御装置 |
| 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 |
| JP2004306247A (ja) * | 2003-03-23 | 2004-11-04 | Sony Corp | ロボット装置及びその制御方法 |
| US7447593B2 (en) * | 2004-03-26 | 2008-11-04 | Raytheon Company | System and method for adaptive path planning |
| JP4479372B2 (ja) * | 2004-06-25 | 2010-06-09 | ソニー株式会社 | 環境地図作成方法、環境地図作成装置、及び移動型ロボット装置 |
| 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 |
-
2006
- 2006-12-20 JP JP2006342638A patent/JP4143103B2/ja not_active Expired - Fee Related
-
2007
- 2007-12-18 US US11/958,928 patent/US7529622B2/en not_active Expired - Fee Related
- 2007-12-20 DE DE602007010076T patent/DE602007010076D1/de active Active
- 2007-12-20 EP EP07254967A patent/EP1935768B1/de not_active Not-in-force
- 2007-12-20 AT AT07254967T patent/ATE485996T1/de not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| US7529622B2 (en) | 2009-05-05 |
| DE602007010076D1 (de) | 2010-12-09 |
| JP2008149436A (ja) | 2008-07-03 |
| EP1935768A2 (de) | 2008-06-25 |
| EP1935768A3 (de) | 2009-01-28 |
| EP1935768B1 (de) | 2010-10-27 |
| US20080154430A1 (en) | 2008-06-26 |
| JP4143103B2 (ja) | 2008-09-03 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| RER | Ceased as to paragraph 5 lit. 3 law introducing patent treaties |