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:
Dec. 28, 2010
Filed:
Jun. 29, 2004
Masakazu Kawai, Wako, JP;
Yasushi Ikeuchi, Wako, JP;
Masakazu Kawai, Wako, JP;
Yasushi Ikeuchi, Wako, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
The joint rotational angles of jointsandof each legof a bipedal walking bodyare detected to grasp the positions/postures of the corresponding rigid bodiesandof each legon a leg plane passing the jointsandof each leg. At the same time, the acceleration of a reference point (the origin of a body coordinate system BC) of the bipedal walking body, the floor reaction force acting on each legand the position of an acting point thereof are grasped in terms of three-dimensional amounts. Two-dimensional amounts obtained by projecting the acceleration, the floor reaction force and the position of the acting point thereof, and the positions/postures of the corresponding rigid bodies of eachonto the leg plane are used to estimate the moments acting on joints of each leg on the basis of an inverse dynamic model. The stability of the estimated values of joint moments can be improved while securing the accuracy of estimating the joint moments in the bending and stretching directions of each leg, considering three-dimensional motions of the bipedal walking body.