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:
Mar. 18, 2014
Filed:
Jan. 14, 2011
Woong Kwon, Seongnam-si, KR;
Joong Kyung Park, Suweon-si, KR;
Ju Suk Lee, Suwon-si, KR;
Chang Hyun Roh, Yongin-si, KR;
Min Hyung Lee, Anyang-si, KR;
Jae Ho Park, Suwon-si, KR;
Joo Hyang Kim, Seongnam-si, KR;
Ho Seong Kwak, Seoul, KR;
Woong Kwon, Seongnam-si, KR;
Joong Kyung Park, Suweon-si, KR;
Ju Suk Lee, Suwon-si, KR;
Chang Hyun Roh, Yongin-si, KR;
Min Hyung Lee, Anyang-si, KR;
Jae Ho Park, Suwon-si, KR;
Joo Hyang Kim, Seongnam-si, KR;
Ho Seong Kwak, Seoul, KR;
Samsung Electronics Co., Ltd., Suwon-Si, KR;
Abstract
A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque.