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:
Apr. 07, 1998
Filed:
Dec. 23, 1994
Masao Nishikawa, Saitama, JP;
Nobuaki Ozawa, Saitama, JP;
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Abstract
A system for controlling locomotion of a legged mobile robot walking in a working space. The system is provided with optical detects which are disposed in a line array at the both sides of a foot member of the robot. On the other hand, a landmark is provided in the working space. The landmark comprises of a line or an arc which divides the space into two regions with different attributes, i.e. different in brightness. The optical detectors generate different signals depending on the brightness. With the generated signals, a relative position of the robot to the landmark is detected. Moreover, when the landmark is an arc, its center is located in line with a work for the robot. a relative direction of the robot to the landmark or the work is detected. Based on the detection, locomotion of the robot is controlled in such a manner that the robot can stably ascend/descent stairs or spiral staircases.