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. 28, 2012
Filed:
Oct. 29, 2008
Seok Min Hong, Daegu, KR;
Yong Hwan OH, Seoul, KR;
Young Hwan Chang, Seoul, KR;
DO Ik Kim, Seoul, KR;
Bum Jae You, Seoul, KR;
Seok Min Hong, Daegu, KR;
Yong Hwan Oh, Seoul, KR;
Young Hwan Chang, Seoul, KR;
Do Ik Kim, Seoul, KR;
Bum Jae You, Seoul, KR;
Korea Institute of Science and Technology, Seoul, KR;
Abstract
The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.