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. 17, 2013
Filed:
Sep. 16, 2010
Kenichiro Nagasaka, Tokyo, JP;
Jinichi Yamaguchi, Tokyo, JP;
Satoru Shimizu, Kanagawa, JP;
Yoshihiro Kuroki, Kanagawa, JP;
Kenichiro Nagasaka, Tokyo, JP;
Jinichi Yamaguchi, Tokyo, JP;
Satoru Shimizu, Kanagawa, JP;
Yoshihiro Kuroki, Kanagawa, JP;
Sony Corporation, Tokyo, JP;
Other;
Abstract
The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.