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. 12, 2004
Filed:
Mar. 04, 2002
Applicant:
Inventors:
Yuichi Hattori, Chiba, JP;
Jinichi Yamaguchi, Hino-shi, Tokyo 191-0062, JP;
Assignee:
Other;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
B62D 5/702 ;
U.S. Cl.
CPC ...
B62D 5/702 ;
Abstract
A legged mobile robot having having at least a plurality of movable legs. This robot includes, in addition to a road surface touching sensor for confirming the ground touching state between the foot part and the road surface, a relative movement measurement sensor for measuring the relative movement between the foot part and the road surface. The robot has its operation controlled on the basis of the amount of relative movement between the foot part and the road surface, so that, when an offset is produced between the intended or scheduled trajectory and the actual trajectory, the operation may be controlled adaptively to execute the robot operation.