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. 22, 2013
Filed:
Jul. 13, 2012
Masahiro Doi, Chofu, JP;
Masahiro Doi, Chofu, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota-Shi, JP;
Abstract
Provided is a method for determining a grounding timing of a biped walking robot. Firstly, a ZMP equation which represents a trajectory of a center of gravity including a first single-leg grounded period in which the robot stands only with a first leg and a second single-leg grounded period in which the robot stands only with a second leg, following the first single-leg grounded period, is solved using a predetermined grounding timing. A second leg ZMP position representing a ZMP position in the second single-leg grounded period is then calculated. When the calculated second leg ZMP position is out of the second leg ZMP permissible area, the grounding timing is modified so that the second leg ZMP position is located in a second leg ZMP permissible area which is defined corresponding to a possible grounding area of the second leg.