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. 25, 2007
Filed:
Aug. 04, 2006
Hugh M. Herr, Somerville, MA (US);
Andreas G. Hofmann, Cambridge, MA (US);
Marko B. Popovic, Somerville, MA (US);
Hugh M. Herr, Somerville, MA (US);
Andreas G. Hofmann, Cambridge, MA (US);
Marko B. Popovic, Somerville, MA (US);
Massachusetts Institute of Technology, Cambridge, MA (US);
Abstract
Systems for controlling the motion of multiple articulated elements connected by one or more joints in an artificial appendage system. Four different embodiments includes a controller that reduces the dimension of joint state space by utilizing biomechanically inspired motion primitives; a quadratic proportional-derivative (PD) controller which employs a two-stage linearization method, applies constraints to variables for dynamic stability, and employs a corrective 'sliding control' mechanism to account for errors in the linear model used; a non-prioritized balance control approach that employs enforced linear dynamics in which all control variables are truncated to linear terms in joint jerks; and a biomimetic motion and balance controller based on center of mass (CM) energetic and biomimetic zero moment conditions.