Title:
2足歩行ロボットの制御装置
Document Type and Number:
Japanese Patent JP4080932
Kind Code:
B2
Abstract:
In a biped robot control system, stereoscopic images captured by CCD cameras are analyzed, the analyzed images are then utilized to detect presence of any moving object around the robot and if it present, to calculate moving object information, and based on the calculated moving object information, it is determined whether or not walking of the robot needs to be stopped. If it is determined to be stopped, the robot is controlled to stop within a period that brings the travel distance at stopping (distance moved between image capture by the CCD cameras and stopping of robot walking) to within a predetermined distance. With this, when the robot approaches a moving object during walking, it can be stopped within the predetermined distance to avoid collision with the moving object.
Inventors:
Nobuo Higaki
Takamichi Shimada
Takamichi Shimada
Application Number:
JP2003095484A
Publication Date:
April 23, 2008
Filing Date:
March 31, 2003
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
A63H11/00; B25J5/00; B25J13/08; G06K9/00; G06N3/00; G06T1/00; G06T7/20
Domestic Patent References:
| JP2002346957A | ||||
| JP2003050559A | ||||
| JP5093778U | ||||
| JP5297940A | ||||
| JP10143245A | ||||
| JP2002326173A |
Other References:
八木 康史 Yasushi YAGI、長井 宏之 Hiroyuki NAGAI、山澤 一誠 Kazumasa YAMAZAWA、谷内田 正彦 Masahiko YACHIDA,全方位視覚情報を用いたロボット誘導-経路沿い行動と衝突回避 Reactive Visual Navigation Based on Omnidirectional Sensing -Path Following and Collision Avoidance,システム/制御/情報 第45巻 第4号 SYSTEMS,CONTROL AND INFORMATION,日本,システム制御情報学会 The Institute of Systems,Control and Information Engineers,第14巻,第27乃至45頁
林 憲玉 Hun-ok Lim、高西 淳夫 Atsuo Takanishi,人間型二足歩行ロボット─二足ヒューマノイドロボットWABIAN-RVの歩行・補償パターンジェネレーション,映像情報メディア学会誌 第57巻 第1号 THE JOURNAL OF THE INSTITUTE OF IMAGE INFORMATION AND TELEVISION ENGINEERS,日本,(社)映像情報メディア学会 THE INSTITUTE OF IMAGE INFORMATION AND TELEVISION ENGINEERS,2003年 1月 1日,第57巻,第63乃至66頁
林 憲玉 Hun-ok Lim、高西 淳夫 Atsuo Takanishi,人間型二足歩行ロボット─二足ヒューマノイドロボットWABIAN-RVの歩行・補償パターンジェネレーション,映像情報メディア学会誌 第57巻 第1号 THE JOURNAL OF THE INSTITUTE OF IMAGE INFORMATION AND TELEVISION ENGINEERS,日本,(社)映像情報メディア学会 THE INSTITUTE OF IMAGE INFORMATION AND TELEVISION ENGINEERS,2003年 1月 1日,第57巻,第63乃至66頁
Attorney, Agent or Firm:
Yutaka Yoshida