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:
Mar. 28, 2006
Filed:
Jan. 22, 2003
Masakazu Kawai, Wako, JP;
Yasushi Ikeuchi, Wako, JP;
Masakazu Kawai, Wako, JP;
Yasushi Ikeuchi, Wako, JP;
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Abstract
It is determined whether the motion state of legsis a one-leg supporting state or a two-leg supporting state, and a total floor reaction force is estimated based on a motion equation of the center of gravity of a bipedal movable body. If the motion state of legsis the one-leg supporting state, the estimated value of the total floor reaction force is used as an estimated value of the floor reaction force on the legwhich is landed. When the motion state changes to the two-leg supporting state, a vertical component of the floor reaction force on the rear leg is estimated from the MP height of the front leg based on a predetermined correlation between the MP height of the front leg and the vertical component of the floor reaction force on the leg.