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:
May. 10, 1994
Filed:
Mar. 29, 1993
Nobuaki Ozawa, Saitama, JP;
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Abstract
A locomotion control system of a biped walking robot having a body and two articulated legs including ankle joints and connected to the body. A mathematical model is predesigned to approximate the robot. The mathematical model is assumed to have ideal rigidity and based on the model target angles of the joints including the ankle joints are preestablished in advance. Robot joints are provided with servo motors and control values are determined on the basis of the target joint angles to drive the servo motors to follow the target joint angles. A sensor is provided to detect moment acting on the ankle joints or the legs. The detected moment is multiplied by a gain made up of the reciprocal number of the amount of rigidity of the ankle joints. And based on the product, the control value is corrected so as to compensate the deformation. As a result, the discrepancy between the model and the actual robot is compensated so that, not only the robot can walk more stably, but the freedom of possible compliance control can be increased. Moreover, the legs can have low weight and inertia so that the walking stability can be further enhanced.
Data source: USPTO (United States Patent and Trademark Office) public patent records. Weekly synchronization. How IDiyas builds this profile