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:
Jan. 05, 2010
Filed:
Mar. 29, 2004
Masakazu Kawai, Wako, JP;
Masakazu Kawai, Wako, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
While a biped walking mobile body is in a motion, such as level-ground walking, the position of the center of gravity (G0) of the biped walking mobile body, the position of an ankle joint () of each leg (), and the position of a metatarsophalangeal joint () of a foot () are successively grasped. The horizontal position of any one of the center of gravity (G0), the ankle joint (), and the metatarsophalangeal joint () is estimated as the horizontal position of a floor reaction force acting point on the basis of the combination of the contact or no contact with the ground at a spot directly below the metatarsophalangeal jointof the footand a spot directly below the ankle joint, which is detected by ground contact sensorsand, respectively, provided on the sole of the foot. The vertical position of the floor reaction force acting point is estimated on the basis of the vertical distance from the ankle joint () to a ground contact surface.