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:
Aug. 22, 2006
Filed:
Dec. 19, 2002
Toru Takenaka, Wako, JP;
Hiroshi Gomi, Wako, JP;
Satoshi Shigemi, Wako, JP;
Takashi Matsumoto, Wako, JP;
Toru Takenaka, Wako, JP;
Hiroshi Gomi, Wako, JP;
Satoshi Shigemi, Wako, JP;
Takashi Matsumoto, Wako, JP;
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Abstract
In a legged mobile robot (), an elastic member () is installed at a position between a second joint () connecting a distal end of a leg () and a foot () and a floor contact end of the foot, and a displacement sensor () is installed in a space defined by a top-to-bottom height of the elastic member. With this, it becomes possible to make the displacement sensor including its components such as the converter or the like compact enough to be housed in the elastic member at the limited space of the foot of the legged mobile robot. Further, it is arranged to self-diagnose abnormality of the displacement sensor by utilizing the redundancy of freedom, and also to detect the floor reaction force accurately such that the legged mobile robot can be controlled to walk more stably.