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:
Jan. 08, 2013
Filed:
Nov. 02, 2009
Ambarish Goswami, Fremont, CA (US);
Seung-kook Yun, Cambridge, MA (US);
Kangkang Yin, Beijing, CN;
Yoshiaki Sakagami, Cupertino, CA (US);
Ambarish Goswami, Fremont, CA (US);
Seung-kook Yun, Cambridge, MA (US);
Kangkang Yin, Beijing, CN;
Yoshiaki Sakagami, Cupertino, CA (US);
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
A system and method is disclosed for controlling a robot that is falling down from an upright posture. Inertia shaping is performed on the robot to avoid an object during the fall. A desired overall toppling angular velocity of the robot is determined. The direction of this velocity is based on the direction from the center of pressure of the robot to the object. A desired composite rigid body inertia of the robot is determined based on the desired overall toppling angular velocity. A desired joint velocity of the robot is determined based on the desired composite rigid body inertia. The desired joint velocity is also determined based on a composite rigid body inertia Jacobian of the robot. An actuator at a joint of the robot is then controlled to implement the desired joint velocity.