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:
Mar. 15, 2011
Filed:
May. 01, 2007
Jun Morimoto, Kizugawa, JP;
Gen Endo, Tokyo, JP;
Jun Nakanishi, Kizugawa, JP;
Gordon Cheng, Soraku-gun, JP;
Jun Morimoto, Kizugawa, JP;
Gen Endo, Tokyo, JP;
Jun Nakanishi, Kizugawa, JP;
Gordon Cheng, Soraku-gun, JP;
Sony Corporation, Tokyo, JP;
Japan Science and Technology Agency, Sitama, JP;
Advanced Telecommunications Research Institute International, Kyoto, JP;
Abstract
A robot has a plurality of limbs with joints; a driving section for driving the joints periodically to form periodic movements on a floor by means of the plural limbs; and a controller capable of performing various operations. The operations include detecting over time floor reaction forces received through the plural limbs contacting the floor during the periodic movement; deriving a center position of the floor reaction forces received from ground contacting limbs during movement and a change in the center position over time; calculating desired angles of the plural joints directly based on the derived current center position, without deriving a desired center position indicating the center position at a future time, controlling the plural joints based on the calculated desired angles; and driving the robot with the controlled plural joints.