Title:
ロボット装置及びその制御方法、並びにコンピューター・プログラム
Document Type and Number:
Japanese Patent JP4821865
Kind Code:
B2
Abstract:
In a robot apparatus having a base unit, a wheel unit of an opposed-two-wheel type mounted on the base unit and having driving wheels drivable so as to face each other, and an upper-body unit provided on an upper portion of the base unit and configured by concatenating one or more joints; a robot apparatus includes an opposed-two-wheel equivalent model, a robot-state observing unit, a control unit performing a control arithmetic operation for the opposed-two-wheel equivalent model, a transforming unit transforming a part of control target values calculated by the control unit to a control target value for the wheel unit, and a joint control unit controlling a joint-driving actuator of the wheel unit and also controlling a joint-driving actuator other than the joint-driving actuator.
Inventors:
Kenichiro Nagasaka
Application Number:
JP2009035168A
Publication Date:
November 24, 2011
Filing Date:
February 18, 2009
Export Citation:
Assignee:
ソニー株式会社
International Classes:
B25J13/00; B25J5/00
Domestic Patent References:
| JP6079656A | ||||
| JP2000288966A |
Other References:
Niu Wang; Zu-shu Li; Yong-long Li; Ya Pan; Heng Wang,Identify the motion-actuator states of two wheeled robot with DFDCMS,7th World Congress on Intelligent Control and Automation, 2008,2008年 6月25日,1663 - 1668
Abeygunawardhana, P.K.W.; Toshiyuki, M.,Environmental interaction of two wheeled mobile manipulator by using reaction torque observer,The 10th IEEE International Workshop on Advanced Motion Control, AMC '08,2008年 3月26日,348 - 353
Abeygunawardhana, P.K.W.; Toshiyuki, M.,Environmental interaction of two wheeled mobile manipulator by using reaction torque observer,The 10th IEEE International Workshop on Advanced Motion Control, AMC '08,2008年 3月26日,348 - 353
Attorney, Agent or Firm:
Masaaki Miyata
Eiji Yamada
Eiji Sasaki
Toshio Sawada
Daido Patent Office
Eiji Yamada
Eiji Sasaki
Toshio Sawada
Daido Patent Office