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:
Jul. 22, 2008
Filed:
Aug. 15, 2003
Applicants:
Masakazu Kawai, Saitama, JP;
Yasushi Ikeuchi, Saitama, JP;
Behzad Dariush, Sunnyvale, CA (US);
Inventors:
Assignee:
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
A61B 5/103 (2006.01); A61B 5/117 (2006.01);
U.S. Cl.
CPC ...
Abstract
A method and processor for obtaining torques to be applied to joints of a leg of a biped walking system include obtaining moments acting around the joints of the leg, using the vertical component of the ground reaction force acting on the leg at the point of application of the ground reaction force and incorporating the attitude of the leg and the vertical component of acceleration of the center of gravity of the whole body including the leg.