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:
May. 21, 2013
Filed:
Dec. 21, 2007
Young-hwan Chang, Seoul, KR;
Yong Hwan OH, Seoul, KR;
Doik Kim, Seoul, KR;
Youngjin Choi, Seoul, KR;
Bum-jae You, Seoul, KR;
Young-Hwan Chang, Seoul, KR;
Yong Hwan Oh, Seoul, KR;
Doik Kim, Seoul, KR;
Youngjin Choi, Seoul, KR;
Bum-Jae You, Seoul, KR;
Korea Institute of Science and Technology, Seoul, KR;
Abstract
Apparatus and a method for balancing and damping control in whole body coordination framework for a biped humanoid robot. The method comprises the steps of: (a) damping the structural vibration of the main body of the robot caused when the robot walks; (b) compensating for the trajectories of the zero moment position (ZMP) and the center of mass (COM) of the robot which changes in accordance with the damping of the structural vibration; and (c) compensating for the body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM.