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. 11, 1994
Filed:
Mar. 03, 1993
Ryutaro Yoshino, Saitama, JP;
Hideo Takahashi, Saitama, JP;
Minoru Kobayashi, Saitama, JP;
Nobuaki Ozawa, Saitama, JP;
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Abstract
A legged mobile robot control system for enabling the mobile robot, more particularly a biped walking robot to walk stably even over terrain with unexpected irregularities. The robot's motion is approximated by a mathematical model and a mathematical control is conducted, while controlling the robot's attitude on the basis of a walking pattern established in advance, without need to use a high-speed on board computer for non-linearlity compensation. In another embodiment made up of a more simple arrangement, when the foot angle deviates from that on flat terrain owing to the foot stepping on a bump, the foot angle is estimated and joints are driven such that the robot's center of gravity is restored in a predetermined target trajectory. In still another embodiment, the robot body's inclination angle and/or angular velocity is determined and the hip joints connecting the body with two legs are driven to restore a predetermined stable attitude.