Title:
ROBOT AND WALKING CONTROL METHOD FOR THE SAME
Document Type and Number:
Japanese Patent JP2010000594
Kind Code:
A
Abstract:
To provide a biped robot generating a walking pattern maximally resembling a human walking pattern by straightening the knees to the full and minimizing the waist movement when the robot walks, and also to provide a walking control method for the robot.
The walking control method for the robot comprises: generating the walking pattern, calculating a walking pattern similarity degree corresponding to the walking pattern; comparing the walking pattern similarity degree with a predefined standard pattern similarity degree; and changing the walking pattern according to the comparison result.
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Inventors:
KWON WOONG
PARK JOONG KYUNG
RO SHOKEN
PARK ZAIKO
KWAK HO SEONG
PARK JOONG KYUNG
RO SHOKEN
PARK ZAIKO
KWAK HO SEONG
Application Number:
JP2009080288A
Publication Date:
January 07, 2010
Filing Date:
March 27, 2009
Export Citation:
Assignee:
SAMSUNG ELECTRONICS CO LTD
International Classes:
B25J5/00
Domestic Patent References:
| JP2005115654A | 2005-04-28 | |||
| JP2009512563A | 2009-03-26 |
Other References:
JPN6013015532; Ｑｉａｎｇ Ｈｕａｎｇ， Ｚｈａｏｑｉｎ Ｐｅｎｇ， Ｗｅｉｍｉｎ Ｚｈａｎｇ， Ｌｉｇｅ Ｚｈａｎｇ ａｎｄ ＫｅＪｉｅ Ｌｉ: 'Ｄｅｓｉｇｎ ｏｆ Ｈｕｍａｎｏｉｄ Ｃｏｍｐｌｉｃａｔｅｄ Ｄｙｎａｍｉｃ Ｍｏｔｉｏｎ Ｂａｓｅｄ ｏｎ Ｈｕｍａｎ Ｍｏｔｉｏｎ Ｃａｐｔｕｒｅ' Ｐｒｏｃ． ｏｆ ２００５ ＩＥＥＥ／ＲＳＪ Ｉｎｔｅｒｎａｔｉｏｎａｌ Ｃｏｎｆｅｒｅｎｃｅ ｏｎ Ｉｎｔｅｌｌｉｇｅｎｔ Ｒｏｂｏｔｓ ａｎｄ Ｓｙｓｔｅｍｓ , 2005, ｏｏ． ６８６６９１, ＩＥＥＥ
JPN6013015534; Ｗｏｏｎｇ Ｋｗｏｎ， Ｈｙｕｎ Ｋ． Ｋｉｍ， Ｊｏｏｎｇ Ｋｙｕｎｇ Ｐａｒｋ， Ｃｈａｎｇ Ｈｙｕｎ Ｒｏｈ， Ｊａｗｏｏ Ｌｅｅ， Ｊａｅｈｏ Ｐａｒｋ， Ｗｏｎ-Ｋｕｋ Ｋｉｍ ａｎｄ Ｋｙ: 'Ｂｉｐｅｄ Ｈｕｍａｎｏｉｄ Ｒｏｂｏｔ Ｍａｈｒｕ ＩＩＩ' Ｐｒｏｃ． ｏｆ ２００７ ７ｔｈ ＩＥＥＥ-ＲＡＳ Ｉｎｔｅｒｎａｔｉｏｎａｌ Ｃｏｎｆｅｒｅｎｃｅ ｏｎ Ｈｕｍａｎｏｉｄ Ｒｏｂｏｔｓ , 2007, ｐｐ． ５８３-５８８, ＩＥＥＥ
JPN6013015531; Ｑｉａｎｇ Ｈｕａｎｇ， Ｚｈａｎｇｇｕｏ Ｙｕ， Ｗｅｉｍｉｎ Ｚｈａｎｇ， Ｚｉｎｇｇｕａｎｇ Ｄｕａｎ， Ｙｕａｎｃａｎ Ｈｕａｎｇ ａｎｄ ＫｅＪｉｅ Ｌｉ: 'Ｇｅｎｅｒａｔｉｏｎ ｏｆ ｈｕｍａｎｏｉｄ ｗａｌｋｉｎｇ ｐａｔｔｅｒｎ ｂａｓｅｄ ｏｎ ｈｕｍａｎ ｗａｌｋｉｎｇ ｍｅａｓｕｒｅｍｅｎｔ' Ｐｒｏｃ ｏｆ ２００８． ８ｔｈ ＩＥＥＥ-ＲＡＳ Ｉｎｔｅｒｎａｔｉｏｎａｌ Ｃｏｎｆｅｒｅｎｃｅ ｏｎ Ｈｕｍａｎｏｉｄ Ｒｏｂｏｔｓ , 20081201, ｐｐ． ９９-１０４, ＩＥＥＥ
JPN6013015535; Ｓｖｅｎ Ｗｅｈｎｅｒ ａｎｄ Ｍａｒｅｎ Ｂｅｎｎｅｗｉｔｚ: 'Ｏｐｔｉｍｉｚｉｎｇ ｔｈｅ Ｇａｉｔ ｏｆ ａ Ｈｕｍａｎｏｉｄ Ｒｏｂｏｔ Ｔｏｗａｒｄｓ Ｈｕｍａｎ-ｌｉｋｅ Ｗａｌｋｉｎｇ' Ｐｒｏｃ． ｏｆ ｔｈｅ ４ｔｈ Ｅｕｒｏｐｅａｎ Ｃｏｎｆｅｒｅｎｃｅ ｏｎ Ｍｏｂｉｌｅ Ｒｏｂｏｔｓ， ＥＣＭＲ '０９ , 20090923, ｐｐ． ２７７-２８２
JPN7013001186; Ｓｖｅｎ Ｗｅｈｎｅｒ ａｎｄ Ｍａｒｅｎ Ｂｅｎｎｅｗｉｔｚ: 'Ｈｕｍａｎｏｉｄ Ｇａｉｔ Ｏｐｔｉｍｉｚａｔｉｏｎ Ｂａｓｅｄ ｏｎ Ｈｕｍａｎ Ｄａｔａ' Ａｕｔｏｍａｔｉｋａ ５２（３）, 2011, ｐｐ． ２２３-２３２
JPN6013015530; Ｑｉａｎｇ Ｈｕａｎｇ， Ｊｉｅ Ｙａｎｇ， Ｚｈａｎｇｇｕｏ Ｙｕ， Ｗｅｉ Ｘｕ， Ｊｉａｎｘｉ Ｌｉ ａｎｄ ＫｅＪｉｅ Ｌｉ: 'Ｍｅａｓｕｒｅｍｅｎｔ ｏｆ Ｈｕｍａｎ Ｗａｌｋｉｎｇ ａｎｄ Ｇｅｎｅｒａｔｉｏｎ ｏｆ Ｈｕｍａｎｏｉｄ Ｗａｌｋｉｎｇ Ｐａｔｔｅｒｎ' Ｐｒｏｃ． ｏｆ ２００７ ＩＥＥＥ Ｉｎｔｅｒｎａｔｉｏｎａｌ Ｃｏｎｆｅｒｅｎｃｅ ｏｎ Ｒｏｂｏｔｉｃｓ ａｎｄ Ｂｉｏｍｉｍｅｔｉｃｓ , 20071215, ｐｐ． １２７-１３２, ＩＥＥＥ
JPN6013015534; Ｗｏｏｎｇ Ｋｗｏｎ， Ｈｙｕｎ Ｋ． Ｋｉｍ， Ｊｏｏｎｇ Ｋｙｕｎｇ Ｐａｒｋ， Ｃｈａｎｇ Ｈｙｕｎ Ｒｏｈ， Ｊａｗｏｏ Ｌｅｅ， Ｊａｅｈｏ Ｐａｒｋ， Ｗｏｎ-Ｋｕｋ Ｋｉｍ ａｎｄ Ｋｙ: 'Ｂｉｐｅｄ Ｈｕｍａｎｏｉｄ Ｒｏｂｏｔ Ｍａｈｒｕ ＩＩＩ' Ｐｒｏｃ． ｏｆ ２００７ ７ｔｈ ＩＥＥＥ-ＲＡＳ Ｉｎｔｅｒｎａｔｉｏｎａｌ Ｃｏｎｆｅｒｅｎｃｅ ｏｎ Ｈｕｍａｎｏｉｄ Ｒｏｂｏｔｓ , 2007, ｐｐ． ５８３-５８８, ＩＥＥＥ
JPN6013015531; Ｑｉａｎｇ Ｈｕａｎｇ， Ｚｈａｎｇｇｕｏ Ｙｕ， Ｗｅｉｍｉｎ Ｚｈａｎｇ， Ｚｉｎｇｇｕａｎｇ Ｄｕａｎ， Ｙｕａｎｃａｎ Ｈｕａｎｇ ａｎｄ ＫｅＪｉｅ Ｌｉ: 'Ｇｅｎｅｒａｔｉｏｎ ｏｆ ｈｕｍａｎｏｉｄ ｗａｌｋｉｎｇ ｐａｔｔｅｒｎ ｂａｓｅｄ ｏｎ ｈｕｍａｎ ｗａｌｋｉｎｇ ｍｅａｓｕｒｅｍｅｎｔ' Ｐｒｏｃ ｏｆ ２００８． ８ｔｈ ＩＥＥＥ-ＲＡＳ Ｉｎｔｅｒｎａｔｉｏｎａｌ Ｃｏｎｆｅｒｅｎｃｅ ｏｎ Ｈｕｍａｎｏｉｄ Ｒｏｂｏｔｓ , 20081201, ｐｐ． ９９-１０４, ＩＥＥＥ
JPN6013015535; Ｓｖｅｎ Ｗｅｈｎｅｒ ａｎｄ Ｍａｒｅｎ Ｂｅｎｎｅｗｉｔｚ: 'Ｏｐｔｉｍｉｚｉｎｇ ｔｈｅ Ｇａｉｔ ｏｆ ａ Ｈｕｍａｎｏｉｄ Ｒｏｂｏｔ Ｔｏｗａｒｄｓ Ｈｕｍａｎ-ｌｉｋｅ Ｗａｌｋｉｎｇ' Ｐｒｏｃ． ｏｆ ｔｈｅ ４ｔｈ Ｅｕｒｏｐｅａｎ Ｃｏｎｆｅｒｅｎｃｅ ｏｎ Ｍｏｂｉｌｅ Ｒｏｂｏｔｓ， ＥＣＭＲ '０９ , 20090923, ｐｐ． ２７７-２８２
JPN7013001186; Ｓｖｅｎ Ｗｅｈｎｅｒ ａｎｄ Ｍａｒｅｎ Ｂｅｎｎｅｗｉｔｚ: 'Ｈｕｍａｎｏｉｄ Ｇａｉｔ Ｏｐｔｉｍｉｚａｔｉｏｎ Ｂａｓｅｄ ｏｎ Ｈｕｍａｎ Ｄａｔａ' Ａｕｔｏｍａｔｉｋａ ５２（３）, 2011, ｐｐ． ２２３-２３２
JPN6013015530; Ｑｉａｎｇ Ｈｕａｎｇ， Ｊｉｅ Ｙａｎｇ， Ｚｈａｎｇｇｕｏ Ｙｕ， Ｗｅｉ Ｘｕ， Ｊｉａｎｘｉ Ｌｉ ａｎｄ ＫｅＪｉｅ Ｌｉ: 'Ｍｅａｓｕｒｅｍｅｎｔ ｏｆ Ｈｕｍａｎ Ｗａｌｋｉｎｇ ａｎｄ Ｇｅｎｅｒａｔｉｏｎ ｏｆ Ｈｕｍａｎｏｉｄ Ｗａｌｋｉｎｇ Ｐａｔｔｅｒｎ' Ｐｒｏｃ． ｏｆ ２００７ ＩＥＥＥ Ｉｎｔｅｒｎａｔｉｏｎａｌ Ｃｏｎｆｅｒｅｎｃｅ ｏｎ Ｒｏｂｏｔｉｃｓ ａｎｄ Ｂｉｏｍｉｍｅｔｉｃｓ , 20071215, ｐｐ． １２７-１３２, ＩＥＥＥ
Attorney, Agent or Firm:
Masatake Shiga
Takashi Watanabe
Yasuhiko Murayama
Shinya Mitsuhiro
Takashi Watanabe
Yasuhiko Murayama
Shinya Mitsuhiro