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. 04, 2012
Filed:
Sep. 15, 2009
Riadh Zaier, Al Khod, OM;
Riadh Zaier, Al Khod, OM;
Fujitsu Limited, Kawasaki, JP;
Abstract
A robot control apparatus includes walking operation control unit which controls the robot to carry out a predetermined walking operation; an obstacle detection unit which detects an obstacle existing in a place where a leg of the robot lands; a determination unit which determines whether or not a place on a sole of the robot's leg on which a reaction force from the obstacle works is in a stable area; and a reflex control unit which causes an ankle of the robot's leg in contact with the obstacle, when the reaction force working on the sole of the robot's leg is not in the stable area, to carry out a pitching or rolling operation, expanding the stable area, extends the leg, and controls the leg in such a way that a ZMP converges on a point of equilibrium of a support leg.