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. 27, 2021
Filed:
Oct. 19, 2018
Applicant:
Korea Institute of Science and Technology, Seoul, KR;
Inventors:
Jung Hoon Kim, Seoul, KR;
Yonghwan Oh, Seoul, KR;
Assignee:
Korea Institute of Science and Technology, Seoul, KR;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 9/00 (2006.01); B25J 9/16 (2006.01); B62D 57/032 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1633 (2013.01); B62D 57/032 (2013.01);
Abstract
A system for balance control of a humanoid includes a control input generation unit which determines Zero Momentum Position (ZMP) of the humanoid with respect to ground, and a control output generation unit which determines Center of Mass (CoM) position and velocity of the humanoid, wherein the control input generation unit and the control output generation unit determine the ZMP and the CoM position and velocity, respectively, by applying a discrete-time dynamics equation sampled by applying a non-pathological sampling frequency.