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:
Jul. 29, 2014
Filed:
Jun. 06, 2011
Takahide Yoshiike, Saitama, JP;
Masanori Takeda, Saitama, JP;
Shinya Shirokura, Saitama, JP;
Hiroyuki Kaneko, Saitama, JP;
Tomoki Watabe, Saitama, JP;
Takahide Yoshiike, Saitama, JP;
Masanori Takeda, Saitama, JP;
Shinya Shirokura, Saitama, JP;
Hiroyuki Kaneko, Saitama, JP;
Tomoki Watabe, Saitama, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
In a legged mobile robothaving legs, a first landing permissible region and a second landing permissible region for a desired landing position of a distal end portion (a foot) of a free leg are determined, and the desired landing position of the free leg foot is determined in a region where the first and second landing permissible regions overlap each other, to thereby generate a desired gait of the robot. The first landing permissible region is determined so as to satisfy a geometric leg motion requisite condition. The second landing permissible region is determined such that a motion continuity requisite condition and a floor reaction force element permissible range requisite condition that are related to a prescribed floor reaction force element as a constituent element of the floor reaction force can be satisfied.