公开(公告)号：EP2101238A4

公开(公告)日：2012-01-25

申请号：EP08858903

申请日：2008-10-07

申请人： HONDA MOTOR CO LTD

发明人： MATSUNAGA SHINICHI ,  OGAWA NAOHIDE ,  TAKAHASHI KIMIO

IPC分类号： G05D1/00 ,  B25J5/00 ,  B25J13/02 ,  B25J19/06 ,  B62D57/032

CPC分类号： B25J13/06 ,  B25J9/1676 ,  G05D1/0033 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0217

公开(公告)号：EP1798005A4

公开(公告)日：2008-04-16

申请号：EP05767080

申请日：2005-07-28

申请人： HONDA MOTOR CO LTD

发明人： HASEGAWA TADAAKI ,  OGAWA NAOHIDE

IPC分类号： B25J5/00 ,  B25J13/00 ,  B25J13/08

CPC分类号： B62D57/032

摘要： A control method of a leg type moving robot comprising a first step for moving the upper body (2) of a robot (1) such that the center of gravity (G) of the robot (1) has a momentum in the intended moving direction of an object (A) or the upper body (2) has an angular momentum while a force of the robot acting on the object (A) is prevented under a state where the robot (1) is facing the object (A), and a second step for starting movement of the object (A) by acting a force from the hand (7) of an arm (5) provided on the upper body (2) of the robot (1) to the object (A) under a state where a momentum is imparted to the center of gravity (G) or an angular momentum is imparted to the upper body (2). When the object is moved by the robot, motion of the robot can be varied smoothly while ZMP is prevented from varying significantly before and after starting movement.

公开(公告)号：EP1598155A4

公开(公告)日：2008-09-17

申请号：EP03705178

申请日：2003-02-14

申请人： HONDA MOTOR CO LTD

发明人： OGAWA NAOHIDE ,  KAWAGUCHI YUICHIRO ,  AIHARA MASAKI ,  MATSUMOTO TAKASHI

IPC分类号： A63H11/18 ,  B25J19/06 ,  B25J5/00 ,  B25J9/16 ,  B25J13/00 ,  B62D57/032

CPC分类号： B25J9/1674 ,  G05B2219/34454 ,  G05B2219/34455 ,  G05B2219/42268

摘要： An abnormality detector of a moving robot (1) arranged such that self-diagnosis is made in the abnormality detector of the moving robot whether the internal state quantity has an abnormal value or not or whether at least any one, e.g. an inner field sensor, is abnormal or not, abnormality information is delivered when a decision is made that an abnormality has occurred with the date of occurrence being attached thereto and stored in an internal memory (68g) and an external memory (94a). Reliability of abnormality detection of the moving robot can thereby be enhanced and the circumstance leading to abnormality can be grasped accurately because the abnormality information is stored with the date of occurrence being attached thereto. In addition to the date of occurrence, parameters indicative of the state quantity can be attached to the abnormality information being stored in the external memory.

公开(公告)号：EP1798004A4

公开(公告)日：2008-05-07

申请号：EP05767078

申请日：2005-07-28

申请人： HONDA MOTOR CO LTD

发明人： HASEGAWA TADAAKI ,  OGAWA NAOHIDE

IPC分类号： B25J5/00 ,  B25J13/00

CPC分类号： B62D57/032

摘要： A gait pattern generating device and a controller of a legged mobile robot. The gait pattern generating device comprises a means for determining the target route of an external force acting on the robot (1), a means for determining the parameters of a target gait pattern (present gait pattern) in a specified period based on the target route of the external force, a means for determining the parameters of a virtual cyclic gait pattern continued to the present gait pattern based on the target route of the external force, a means for correcting the parameters of the present gait pattern so that the motion route of the upper body of the robot (1) in the present gait pattern can be converged to the motion route of the upper body in the cyclic gait pattern, and a means for sequentially determining the instantaneous values of the present gait pattern based on the parameters of the corrected present gait pattern. Thus, even if the external force is suddenly changed under such an environment that the external force properly acts on the robot, the target gait pattern capable of continuously securing the stability of the robot can be generated.