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:
Sep. 02, 2014
Filed:
Nov. 28, 2012
Honda Motor Co., Ltd., Tokyo, JP;
Masao Kanazawa, Saitama, JP;
Shigeru Kanzaki, Saitama, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
A gait generating deviceincludes a desired particular-site motion velocity value determining unitthat uses a quadratic evaluation function having a particular-site motion velocity vector ↑Vb as a variable and a linear matrix inequality having ↑Vb as a variable to sequentially determine, as a desired value ↑Vb_cmdof ↑Vb, a value of ↑Vb that can minimize the value of the evaluation function within a range in which a restriction condition that the linear matrix inequality holds is satisfied, by arithmetic processing according to a solution method for a quadratic programming problem. The device then integrates ↑Vb_cmdto sequentially determine desired values of the position and posture of the particular site (the body)of the robot. The linear matrix inequality is set to satisfy a condition restricting the operations of the joints between the particular siteand the distal portion of each leg link