DE60332227D1 - System zur selbst abschätzung der lage des mobilen roboters mit beinen - Google Patents

System zur selbst abschätzung der lage des mobilen roboters mit beinen

Info

Publication number
DE60332227D1
DE60332227D1 DE60332227T DE60332227T DE60332227D1 DE 60332227 D1 DE60332227 D1 DE 60332227D1 DE 60332227 T DE60332227 T DE 60332227T DE 60332227 T DE60332227 T DE 60332227T DE 60332227 D1 DE60332227 D1 DE 60332227D1
Authority
DE
Germany
Prior art keywords
assessing
legs
self
mobile robot
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE60332227T
Other languages
English (en)
Inventor
Toru Takenaka
Takashi Matsumoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Application granted granted Critical
Publication of DE60332227D1 publication Critical patent/DE60332227D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/185—Compensation of inertial measurements, e.g. for temperature effects for gravity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
DE60332227T 2002-04-26 2003-04-28 System zur selbst abschätzung der lage des mobilen roboters mit beinen Expired - Lifetime DE60332227D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002127066 2002-04-26
PCT/JP2003/005449 WO2003090981A1 (fr) 2002-04-26 2003-04-28 Systeme permettant d'estimer l'attitude d'un robot mobile monte sur des jambes

Publications (1)

Publication Number Publication Date
DE60332227D1 true DE60332227D1 (de) 2010-06-02

Family

ID=29267632

Family Applications (5)

Application Number Title Priority Date Filing Date
DE60336518T Expired - Lifetime DE60336518D1 (de) 2002-04-26 2003-04-28 Selbstpositionsabschätzvorrichtung für mobile roboter mit beinen
DE60336519T Expired - Lifetime DE60336519D1 (de) 2002-04-26 2003-04-28 Selbstpositionsabschätzvorrichtung für mobile Roboter mit Beinen
DE60332227T Expired - Lifetime DE60332227D1 (de) 2002-04-26 2003-04-28 System zur selbst abschätzung der lage des mobilen roboters mit beinen
DE60332224T Expired - Lifetime DE60332224D1 (de) 2002-04-26 2003-04-28 Selbstpositionsabschätzvorrichtung für mobile roboter mit beinen
DE60332233T Expired - Lifetime DE60332233D1 (de) 2002-04-26 2003-04-28 System zur selbstbewertung der lage eines mobilen roboters mit beinen

Family Applications Before (2)

Application Number Title Priority Date Filing Date
DE60336518T Expired - Lifetime DE60336518D1 (de) 2002-04-26 2003-04-28 Selbstpositionsabschätzvorrichtung für mobile roboter mit beinen
DE60336519T Expired - Lifetime DE60336519D1 (de) 2002-04-26 2003-04-28 Selbstpositionsabschätzvorrichtung für mobile Roboter mit Beinen

Family Applications After (2)

Application Number Title Priority Date Filing Date
DE60332224T Expired - Lifetime DE60332224D1 (de) 2002-04-26 2003-04-28 Selbstpositionsabschätzvorrichtung für mobile roboter mit beinen
DE60332233T Expired - Lifetime DE60332233D1 (de) 2002-04-26 2003-04-28 System zur selbstbewertung der lage eines mobilen roboters mit beinen

Country Status (6)

Country Link
US (3) US6963185B2 (de)
EP (5) EP2106886B1 (de)
JP (3) JP4181114B2 (de)
KR (3) KR100956520B1 (de)
DE (5) DE60336518D1 (de)
WO (3) WO2003090980A1 (de)

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* Cited by examiner, † Cited by third party
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