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:
Nov. 29, 1994
Filed:
May. 20, 1993
Hideo Takahashi, Saitama, JP;
Yukihiko Suzaki, Saitama, JP;
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Abstract
An emergency stop control system for a biped walking robot having a body and two articulated legs each connected to the body. The system has a robot controller for controlling the motion of the robot such that it walks in accordance with a predetermined gait and an emergency stop controller including an acoustic sensor (microphone). The robot operator and persons in a robot's working environment are provided with a whistle and blows it when the robot is likely to collide with them or objects. The sensor picks up the signal to pass it to a band-filter so as a frequency components of 400 Hz is passed to a later stage made up of a microcomputer. In the microcomputer, it is first checked if the signal is larger than a first reference level at an interval and a counter value is incremented if the result of checking is affirmative. Then the counter value is compared with a second reference value and if it exceeds the second reference value, the robot is ascertained to be in a stable attitude. If it is ascertained to be stable, the robot is driven to stop its locomotion.