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. 16, 2010
Filed:
Sep. 13, 2005
Toshio Fukuda, Nagoya, JP;
Yasuhisa Hasegawa, Tsukuba, JP;
Masahiro Doi, Nagoya, JP;
Keisuke Suga, Toyota, JP;
Yoshimi Kajitani, Toyota, JP;
Toshio Fukuda, Nagoya, JP;
Yasuhisa Hasegawa, Tsukuba, JP;
Masahiro Doi, Nagoya, JP;
Keisuke Suga, Toyota, JP;
Yoshimi Kajitani, Toyota, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, Aichi-ken, JP;
Abstract
In a robot with two or more leg links having ankle joint respectively and pivotably linked to a torso, the robot walks naturally by making the ankle joint of a grounded leg link rotate freely by using passive movement. A controller executes controlling operation of calculating target joint angles of remaining joints other than the ankle joint of the grounded leg link based upon the measured joint angles of the ankle joint of the grounded leg link in the lateral and forward direction. The target joint angles of the remaining joints are calculated so as to satisfy the following condition that a tilting angle of the torso matches a target tilting angle determined based upon the measured joint angle of the ankle joint of the grounded leg link in the forward direction, a cycle period of the idle leg link from lifting to grounding, and a target stride of the idle leg link.