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:
Oct. 10, 2003
Satoru Shimizu, Kanagawa, JP;
Jinichi Yamaguchi, Hino-shi, Tokyo 191-0062, JP;
Yoshihiro Kuroki, Kanagawa, JP;
Satoru Shimizu, Kanagawa, JP;
Jinichi Yamaguchi, Hino-shi, Tokyo 191-0062, JP;
Yoshihiro Kuroki, Kanagawa, JP;
Sony Corporation, Tokyo, JP;
Other;
Abstract
A ZMP equilibrium equation stating the relationship of various moments applied to a robot body of a robot, based on desirable motion data made up by trajectories of respective parts, imaginarily divided from the robot body, is generated, and moment errors in a ZMP equilibrium equation are calculated. A priority sequence of the parts, the target trajectories of which are corrected to cancel out the moment errors, is set. The target trajectories are corrected from one part to another, in a sequence corresponding to the priority sequence, to compensate the moment errors.