Title:
HUMANOID ROBOT CONTROL SYSTEM AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2024/080225
Kind Code:
A1
Abstract:
This humanoid robot control system comprises: a humanoid robot comprising an upper-body portion having at least one arm portion, a leg portion to be placed on a floor, and a link portion that pivotally links the upper-body portion to the leg portion; an information acquisition unit that acquires information indicating at least the distance and angle between the arm portion and an object the humanoid robot is going to perform work on; and a control unit that controls the pivotal movement of the link portion on the basis of the information.
Inventors:
SON MASAYOSHI (JP)
Application Number:
PCT/JP2023/036438
Publication Date:
April 18, 2024
Filing Date:
October 05, 2023
Export Citation:
Assignee:
SOFTBANK GROUP CORP (JP)
International Classes:
B25J9/06; B25J5/00; B25J13/00
Domestic Patent References:
| WO2019208652A1 | 2019-10-31 |
Foreign References:
| JP2012056661A | 2012-03-22 | |||
| JP2018167381A | 2018-11-01 | |||
| JP2006136962A | 2006-06-01 | |||
| JP2018158393A | 2018-10-11 | |||
| JP2002178283A | 2002-06-25 | |||
| JP2005319526A | 2005-11-17 | |||
| JP2010224878A | 2010-10-07 | |||
| JP2006263836A | 2006-10-05 | |||
| JP2018097710A | 2018-06-21 | |||
| US20220300011A1 | 2022-09-22 |
Other References:
山崎公俊 ほか, 日用品データベースを利用する家事支援ロボットによる思い出し・片付け支援, 第２７回日本ロボット学会学術講演会予稿集ＤＶＤ－ＲＯＭ, 社団法人日本ロボット学会, 15 September 2009, (YAMAZAKI, Kimitoshi et al. Remenberance and Tidying Supports by Homemaking Assistant Robots with Daily-Commodities Database.), non-official translation (Preprints DVD-ROM of the 27th Annual Conference of the Robotics Society of Japan. The Robotics Society of Japan.) in particular, see "2.2 System configuration of homemaking assistant robots", "3.3 Storage location operations", "4.1 Storage of daily necessaries", fig. 1, 3, etc.
泉 哲郎 ほか, サービスロボット ＳｍａｒｔＰａｌV, 第２６回日本ロボット学会学術講演会予稿集ＣＤ－ＲＯＭ, 社団法人日本ロボット学会, 09 September 2008, non-official translation (IZUMI, Tetsuro et al. Service Robot SmartPal V. Preprints DVD-ROM of the 26th Annual Conference of the Robotics Society of Japan. The Robotics Society of Japan.) entire text, all drawings
KATO AKIRA: "Development of nursing-care assistant robot RIBA and smart rubber sensor. Preprints DVD-ROM of the 30th Annual Conference of the Robotics Society of Japan", 30TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN, 17 February 2012 (2012-02-17), pages RSJU2012AC4C1 - 2, XP093158292
森澤 光晴 ほか, 等式・不等式制約条件付き逆運動学を用いたヒューマノイドロボットの全身運動制御システムの開発, 第３１回日本ロボット学会学術講演会予稿集, 社団法人日本ロボット学会, 04 September 2013, (MORISAWA, Mitsuharu et al.), non-official translation (Development of a whole-body motion control system for humanoid robots using inverse kinematics with equality and inequality constraints. Preprints of the 31st Annual Conference of the Robotics Society of Japan. The Robotics Society of Japan.) entire text, all drawings
泉 哲郎 ほか, サービスロボット ＳｍａｒｔＰａｌV, 第２６回日本ロボット学会学術講演会予稿集ＣＤ－ＲＯＭ, 社団法人日本ロボット学会, 09 September 2008, non-official translation (IZUMI, Tetsuro et al. Service Robot SmartPal V. Preprints DVD-ROM of the 26th Annual Conference of the Robotics Society of Japan. The Robotics Society of Japan.) entire text, all drawings
KATO AKIRA: "Development of nursing-care assistant robot RIBA and smart rubber sensor. Preprints DVD-ROM of the 30th Annual Conference of the Robotics Society of Japan", 30TH ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN, 17 February 2012 (2012-02-17), pages RSJU2012AC4C1 - 2, XP093158292
森澤 光晴 ほか, 等式・不等式制約条件付き逆運動学を用いたヒューマノイドロボットの全身運動制御システムの開発, 第３１回日本ロボット学会学術講演会予稿集, 社団法人日本ロボット学会, 04 September 2013, (MORISAWA, Mitsuharu et al.), non-official translation (Development of a whole-body motion control system for humanoid robots using inverse kinematics with equality and inequality constraints. Preprints of the 31st Annual Conference of the Robotics Society of Japan. The Robotics Society of Japan.) entire text, all drawings
Attorney, Agent or Firm:
TAIYO, NAKAJIMA & KATO (JP)
Download PDF: