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:
Mar. 17, 2020
Filed:
Apr. 01, 2016
Osaka University, Suita-shi, Osaka, JP;
OSAKA UNIVERSITY, Osaka, JP;
Abstract
A walking robot () includes a body () joined with an upper part of two legs () so that the body has a changeable posture relative to the legs; and a posture control unit () configured to control a posture of the body stably in accordance with states of the legs () and the body (). The walking robot includes: a state calculation unit () configured to calculate periodically, from angular information on the legs () and the body (), angular momentum paround a lower end of the leg in a stance phase and integral pof the angular momentum; and a stabilization determination unit () configured to determine whether the calculated angular momentum pand integral pare approaching or getting away from target values, and output a result of the determination to the posture control unit ().
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