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. 12, 1993
Filed:
Nov. 27, 1991
Nobuaki Ozawa, Saitama, JP;
Toru Takenaka, Saitama, JP;
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Abstract
A servo system for controlling locomotion of a biped walking robot to follow up a target angle for each drive predetermined in series with respect to time. The control is stabilized by reducing the load on the on-board computer through the provision of an analog circuit for velocity control which has to be carried out in short control cycle and a digital circuit for positional control which can be carried out in relatively long control cycle. For reducing the control deviation to substantially zero, open-loop control is adopted for the motor angular velocity so as to prevent delay from arising in the joint angle control and position feedback control is conducted only in case where a deviation arises between the target joint angle and the actual joint angle owing to external disturbance or the like.