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, 1993
Filed:
Nov. 27, 1991
Applicant:
Inventor:
Nobuaki Ozawa, Saitama, JP;
Assignee:
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G05B / ;
U.S. Cl.
CPC ...
31856812 ; 3185681 ; 31856822 ; 901-1 ; 901-9 ; 180-81 ; 395 95 ;
Abstract
A servo system for controlling the locomotion of a biped walking robot, having a body link and two leg linkages each connected to the body link and each including knee joint and ankle joint connecting an upper link and a lower link, to follow up a target angle for each drive joint predetermined in series with respect to time such that the robot walks. In order to cushion shock received at robot foot landing, moment generated at foot landing is detected and drive speed of the joints is feedback controlled in proportion to the detected moment so as to carry out a virtual compliance control on the robot foot.