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:
Aug. 30, 1994
Filed:
Sep. 26, 1991
Ryutaro Yoshino, Saitama, JP;
Hideo Takahashi, Saitama, JP;
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Abstract
A system for controlling locomotion of a biped walking robot. The system carries out feedback control for eliminating the deviation between a target value and the detected angle of inclination of the linkage mechanism in the absolute coordinate system. Hence, stable dynamic walking is achieved at all times even during locomotion over rough terrain. In the stability control, the number of joints with respect to which control is conducted is reduced to the minimum required and control is conducted separately but in coordination with respect to the movement or motion in the pitch direction and the movement or motion in the roll direction, while the remaining joints are controlled locally. Thus, the control is considerably simplified. In addition, feedback control is conducted with respect to the velocity components so as to realize the desired posture angles and the feedback gain adjusted so as to achieve the response speed required by the individual linkages. This further enhances the capability of the robot to walk stably at high speed.