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:
Apr. 02, 2019
Filed:
Oct. 27, 2016
Honda Motor Co., Ltd., Tokyo, JP;
Yutaka Takagi, Saitama, JP;
Chiaki Tanaka, Saitama, JP;
Tomoki Watabe, Saitama, JP;
Hiroyuki Kaneko, Saitama, JP;
Masao Kanazawa, Saitama, JP;
HONDA MOTOR CO., LTD., Tokyo, JP;
Abstract
A displacement manipulated variable determination sectionin a control devicefor a mobile robotdetermines, for each of contacting portionsof a plurality of movable links, a displacement manipulated variable for making a desired position and/or posture of the contacting portionordisplaced, by integrating, under a predetermined condition, a deviation between an observed value of an actual contact reaction force acting from an external object and a desired value thereof. The control devicecontrols an actuatorthat drives a corresponding joint, in accordance with the displacement manipulated variable determined and a reference operational goal for the mobile robot