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:
Dec. 12, 2006
Filed:
Aug. 12, 2005
Shinichiro Kobashi, Wako, JP;
Masaki Aihara, Wako, JP;
Shinichiro Kobashi, Wako, JP;
Masaki Aihara, Wako, JP;
Honda Môtor Co., Ltd., Tokyo, JP;
Abstract
According to a legged mobile robot of the present invention, a variable measuring portionmeasures the changing amount of a secondary desired angle θ, namely, of the newest primary desired angle θthat is received by a first sub-control unitas a variable δ. When a determining portiondetermines that an absolute value of the variable δ exceeds a threshold ε, a correcting portioncorrects a motor current I so as to inhibit the changing amount of the motor current I. Thereby, even when an abnormality is temporarily generated in the communication between a main control unitand a first sub-control unitvia a first communication line and the absolute value of the variable δ exceeds a threshold ε, the current supply I to a motoris inhibited from changing rapidly.