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:
Jan. 31, 2006
Filed:
Feb. 07, 2003
Takayuki Furuta, Tokyo, JP;
Tetsuo Tawara, Tokyo, JP;
Yu Okumura, Kanagawa, JP;
Hiroaki Kitano, Saitama, JP;
Takayuki Furuta, Tokyo, JP;
Tetsuo Tawara, Tokyo, JP;
Yu Okumura, Kanagawa, JP;
Hiroaki Kitano, Saitama, JP;
Japan Science and Technology Agency, Saitama, JP;
Abstract
A walk controller () for a biped (two-footed) walking mobile system, which drive-controls each joint drive motor (L,R–L,R) of each leg portion (L,R) of a biped walking mobile system based on gait data, includes a force detector (L,R) to detect the force allied to a sole of each foot portion (L,R), and a compensator () to modify the gait data from a gait former () based on the force detected by a force detector, and is constituted so that each force detector (L,R) comprises at least three 3-axial force sensors () allocated on a sole of each foot portion () modifies gait data based on the detected signals from three 3-axial force sensors () which detect effective force, thereby the walk stability of a robot is realized, even on the unstable road surface condition with complex roughness.