Title:
移動体装置及び移動制御プログラム
Document Type and Number:
Japanese Patent JP5454333
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To appropriately control a movement of a robot in accordance with a situation.SOLUTION: A robot comprises a mobile part of two-wheel speed difference type, an upper body part held to the mobile part and movable along with the mobile part, an external force information acquisition part 52 for acquiring an external force vector applied to the upper body part, a point-of-action displacement part 54 for virtually displacing a point of action of the external force vector that is applied to the upper body part to a position offset in a translational direction by a predetermined distance from a position of a center of gravity of the upper body part, and a movement control part 56 for setting mechanical impedance (inertia, viscosity, elasticity) for the translational direction and for a turning direction respectively by using the displaced point of action, and for controlling movement of the mobile part.
Inventors:
Hiroshi Hidaka
Yoshiro Haneda
Yuichi Murase
Shinji Kanda
Yoshiro Haneda
Yuichi Murase
Shinji Kanda
Application Number:
JP2010100052A
Publication Date:
March 26, 2014
Filing Date:
April 23, 2010
Export Citation:
Assignee:
富士通株式会社
International Classes:
G05D1/02
Domestic Patent References:
| JP2009025989A | ||||
| JP2006190105A | ||||
| JP2007055480A | ||||
| JP3791873B2 | ||||
| JP2004344435A | ||||
| JP2010009226A | ||||
| JP7080786A | ||||
| JP10231100A | ||||
| JP2001277162A |
Attorney, Agent or Firm:
Shuhei Katayama