Invention Grant
US08322468B2 Robot apparatus and method of controlling the same, and computer program
有权
机器人装置及其控制方法以及计算机程序
- Patent Title: Robot apparatus and method of controlling the same, and computer program
- Patent Title (中): 机器人装置及其控制方法以及计算机程序
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Application No.: US12698550Application Date: 2010-02-02
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Publication No.: US08322468B2Publication Date: 2012-12-04
- Inventor: Kenichiro Nagasaka
- Applicant: Kenichiro Nagasaka
- Applicant Address: JP Tokyo
- Assignee: Sony Corporation
- Current Assignee: Sony Corporation
- Current Assignee Address: JP Tokyo
- Agency: Finnegan, Henderson, Farabow, Garrett & Dunner, L.L.P.
- Priority: JPP2009-035168 20090218
- Main IPC: B62D57/00
- IPC: B62D57/00
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.
Public/Granted literature
- US20100206651A1 ROBOT APPARATUS AND METHOD OF CONTROLLING THE SAME, AND COMPUTER PROGRAM Public/Granted day:2010-08-19
Information query
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