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1. WO2010128088 - METHOD FOR CONTROLLING A HUMANOID ROBOT

Publication Number WO/2010/128088
Publication Date 11.11.2010
International Application No. PCT/EP2010/056125
International Filing Date 05.05.2010
IPC
B62D 57/032 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
032with alternately or sequentially lifted supporting base and leg; with alternately or sequentially lifted feet or skid
CPC
B62D 57/032
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
57Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
02with ground-engaging propulsion means, e.g. walking members
032with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Applicants
  • BIA [FR]/[FR] (AllExceptUS)
  • UNIVERSITE DE VERSAILLES SAINT QUENTIN EN YVELINES [FR]/[FR] (AllExceptUS)
  • ALFAYAD, Samer [FR]/[FR] (UsOnly)
  • BRUNEAU, Olivier [FR]/[FR] (UsOnly)
  • DOUBLIEZ, Paul-François [FR]/[FR] (UsOnly)
  • BEN OUEZDOU, Fathi [FR]/[FR] (UsOnly)
Inventors
  • ALFAYAD, Samer
  • BRUNEAU, Olivier
  • DOUBLIEZ, Paul-François
  • BEN OUEZDOU, Fathi
Agents
  • COLLET, Alain
Priority Data
095299705.05.2009FR
Publication Language French (FR)
Filing Language French (FR)
Designated States
Title
(EN) METHOD FOR CONTROLLING A HUMANOID ROBOT
(FR) PROCEDE DE COMMANDE D'UN ROBOT HUMANOIDE
Abstract
(EN)
The invention relates to a method for controlling a humanoid robot (10) comprising two legs (12, 13) each ending in a foot (14, 15) capable of bearing on a floor (16) and enabling the movement of thereof. The invention is particularly useful for controlling the walk of a humanoid robot which is as similar as possible to that of a human. According to the invention, the method involves using a conservation equation for the average total energy during a standard stride to determine the parameters required to perform the next stride.
(FR)
L'invention concerne un procédé de commande d'un robot humanoïde (10) comportant deux jambes (12, 13) terminées chacune par un pied (14, 15) pouvant prendre appui sur un sol (16) et permettant son déplacement. L'invention trouve une utilité particulière dans la commande de la marche d'un robot humanoïde se rapprochant au mieux de celle de l'homme. Selon l'invention, le procédé consiste à partir d'une équation de conservation de l'énergie totale moyenne durant une enjambée courante à déterminer des paramètres nécessaires à exécuter l'enjambée suivante.
Also published as
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