Title:
脚式移動ロボット
Document Type and Number:
Japanese Patent JP4929506
Kind Code:
B2
Abstract:
A legged locomotion robot capable of performing appropriate movement control of the robot while reducing arithmetic processing for recognizing the shape of a floor using an image captured by a camera, by setting predetermined landing positions of a plurality of steps of the legs (5L, 5R) of the robot (1) on a present assumed floor, which is a floor represented by floor shape information used for a current motion control of the robot, during movement of the robot; setting an image projection area (A(i)), which is projected on each of the images captured by cameras (27L, 27R) mounted on the robot (1) for each predetermined landing position, in the vicinity of each of the predetermined landing positions; and estimating shape parameters (n(i), d(i)) representing the shape of an actual floor partial area (Ar(i)), which is an actual floor whose image is captured in each partial image area, on the basis of the image of the partial image area generated by projecting the set image projection area A(i) on the images captured by the cameras (27L, 27R) for each partial image area.
Inventors:
Nami Asagiya
Masatoshi Okutomi
Shigeki Sugimoto
Masatoshi Okutomi
Shigeki Sugimoto
Application Number:
JP2007089229A
Publication Date:
May 09, 2012
Filing Date:
March 29, 2007
Export Citation:
Assignee:
Honda motor industry stock company
National University Corporation Tokyo Institute of Technology
National University Corporation Tokyo Institute of Technology
International Classes:
B25J5/00; B25J13/08; G06T1/00
Domestic Patent References:
| JP5223549A | ||||
| JP7270518A | ||||
| JP2005258758A | ||||
| JP2001328083A | ||||
| JP2002166380A |
Foreign References:
| WO2005087452A1 |
Other References:
熊谷 正朗、江村 超,人型2脚歩行ロボットの斜面歩行に関する研究 Slope-Walk of a Human Type Biped Robot,計測自動制御学会論文集 第37巻 第11号 Transactions of the Society of Instrument and Control Engineers,日本,社団法人計測自動制御学会 The Society of Instrument and Control Engineers,2001年11月,第37巻,1040-1047
Attorney, Agent or Firm:
Tatsuhiko Sato
Susumu Hori
Takeshi Sagi
Kenichi Homma
Tsuyoshi Kagaya
Susumu Hori
Takeshi Sagi
Kenichi Homma
Tsuyoshi Kagaya