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:
Feb. 02, 2010
Filed:
Aug. 23, 2004
Gen Endo, Nara, JP;
Mitsuo Kawato, Kyoto, JP;
Gordon Cheng, Kyoto, JP;
Jun Nakanishi, Kyoto, JP;
Jun Morimoto, Kyoto, JP;
Gen Endo, Nara, JP;
Mitsuo Kawato, Kyoto, JP;
Gordon Cheng, Kyoto, JP;
Jun Nakanishi, Kyoto, JP;
Jun Morimoto, Kyoto, JP;
Sony Corporation, Tokyo, JP;
Advanced Telecommunications Research Institute International, Soraku-gun, JP;
Abstract
The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.