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. 07, 2014
Filed:
Jan. 09, 2013
Honda Motor Co., Ltd., Tokyo, JP;
Tomoki Watabe, Wako, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
A deviceincludes a floor surface information acquisition portionwhich acquires floor surface information in a plurality of local regions of a floor surface. The gait generatorof the devicesets the desired landing position and posture of a free legof a robotwithin one local region and determines a desired horizontal motion trajectory of the distal end of the free legto determine a desired vertical motion trajectory of the distal end of the free legso that the height of the distal end of the free legis equal to or higher than a lower-limit height determined to prevent a contact between the distal end of the free legand the floor surface of the local region at the positions of a plurality of sampling points on the desired horizontal motion trajectory.