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:
Oct. 08, 2013
Filed:
Apr. 09, 2008
Hideki Kajima, Toyota, JP;
Hideki Kajima, Toyota, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, Aichi, JP;
Abstract
When a swinging leg (e.g., the leg link LR) lands on road surface, a control unitincluded in a robotcontrols an actuatordriving an ankle jointto make the ankle jointin a leg link LR soft and changes a real angle of the ankle jointaccording to road profile, not to follow a prespecified trajectory of target angle. Further, after the leg link LR lands, the control unitcorrects the trajectory of the target angle of the ankle jointto cancel out a difference between the real angle of the ankle jointand the target angle. Moreover, the control unitcontrols the actuatorto make the ankle jointhard, so that the real angle of the ankle jointof the leg link LR, a supporting leg, follows the corrected trajectory of the target angle.