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:
Oct. 15, 2019
Filed:
Jun. 26, 2017
Honda Motor Co., Ltd., Tokyo, JP;
The University of Tokyo, Tokyo, JP;
Masao Kanazawa, Saitama, JP;
Yoshiki Kanemoto, Saitama, JP;
Shunichi Nozawa, Tokyo, JP;
Yohei Kakiuchi, Tokyo, JP;
Kei Okada, Tokyo, JP;
Masayuki Inaba, Tokyo, JP;
HONDA MOTOR CO., LTD., Tokyo, JP;
THE UNIVERSITY OF TOKYO, Tokyo, JP;
Abstract
An arithmetic processing unitestimates a possible existence region of a specific state quantity by performing polyhedron projection processing for finding a projection region obtained by projecting a convex polyhedron to a subspace representing the specific state quantity, where the convex polyhedron is within a space configured with the contact reaction forces of a plurality of contacting portions () of a mobile robotand the specific state quantity as variable components and where the convex polyhedron is specified by a mechanical relation between the contact reaction forces and the specific state quantity and by a linear inequality representing a contact reaction force constraint condition.