The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 07, 2018
Filed:
Sep. 23, 2016
Applicant:
Honda Motor Co., Ltd., Tokyo, JP;
Inventor:
Masao Kanazawa, Saitama, JP;
Assignee:
HONDA MOTOR CO., LTD, Tokyo, JP;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/16 (2006.01); B62D 57/02 (2006.01); B25J 9/00 (2006.01); B25J 13/08 (2006.01); G05D 1/02 (2006.01); G01L 5/00 (2006.01); B62D 57/032 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1669 (2013.01); B25J 9/0006 (2013.01); B25J 9/1633 (2013.01); B25J 13/088 (2013.01); B62D 57/02 (2013.01); G05D 1/021 (2013.01); B62D 57/032 (2013.01); G01L 5/0028 (2013.01); G05B 2219/39182 (2013.01); Y10S 901/01 (2013.01);
Abstract
A control devicefor a mobile robotconverts a moment manipulated variable ↑τ_dmd determined in accordance with a deviation between a desired value and an observed value of a predetermined state quantity of the mobile robotto a rotation manipulated variable ↑Δθ by which contacting portionsof a plurality of movable linksto be brought into contact with an external object are to be rotated about a desired ZMP, and corrects a desired position/posture of each contacting portionto a position/posture rotated about the desired ZMP by the rotation manipulated variable ↑Δθ.