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. 19, 2010
Filed:
Nov. 10, 2005
Yuji Hosoda, Kasumigaura, JP;
Saku Egawa, Toride, JP;
Junichi Tamamoto, Kasumigaura, JP;
Ryosuke Nakamura, Hitachinaka, JP;
Toshihiko Horiuchi, Abiko, JP;
Yuji Hosoda, Kasumigaura, JP;
Saku Egawa, Toride, JP;
Junichi Tamamoto, Kasumigaura, JP;
Ryosuke Nakamura, Hitachinaka, JP;
Toshihiko Horiuchi, Abiko, JP;
Hitachi, Ltd., Tokyo, JP;
Abstract
A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.