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:
Jun. 22, 1993
Filed:
Nov. 27, 1991
Applicant:
Inventors:
Assignee:
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G05B / ;
U.S. Cl.
CPC ...
31856812 ; 3185681 ; 901-1 ; 901-9 ; 180-81 ; 180-86 ; 395 80 ;
Abstract
A servo system for controlling locomotion of a biped walking robot, made up of a body link and two leg linkages each connected to the body link by a first drive joint and each including knee and ankle joints, 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 stabilize robot posture when it could turn over, the drive speed of the joints are feedback controlled in responsive with the robot turnover probability. Moreover, the predetermined robot gait is modified at such instance, for example, in such a manner that robot leg lands one of additionally preestablished candidate positions for robot leg landing.