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:
Sep. 06, 2011
Filed:
Sep. 14, 2005
Toru Takenaka, Wako, JP;
Takashi Matsumoto, Wako, JP;
Takahide Yoshiike, Wako, JP;
Kazushi Akimoto, Wako, JP;
Shinya Shirokura, Wako, JP;
Minami Asatani, Wako, JP;
Toru Takenaka, Wako, JP;
Takashi Matsumoto, Wako, JP;
Takahide Yoshiike, Wako, JP;
Kazushi Akimoto, Wako, JP;
Shinya Shirokura, Wako, JP;
Minami Asatani, Wako, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
In a legged mobile robot, a pivoting motion of a foot () relative to a leg is controlled such that, from an intermediate time point in a period of departure of a leg from a floor to a starting time point of a period of landing of the leg on the floor, an angle (θ) of inclination of the foot () of the leg relative to the floor surface gradually approaches zero. This eases impact to the foot of the leg at the time of landing on the floor and prevents a slip or spin of the sole, thereby enabling stable walking or running.