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:
May. 30, 2012
Applicants:
Kee Hong Seo, Seoul, KR;
Joo Hyung Kim, Seongnam-si, KR;
Kyung Shik Roh, Seongnam-si, KR;
Inventors:
Assignee:
Samsung Electronics Co., Ltd., Suwon-Si, KR;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G05B 19/04 (2006.01); G05B 15/00 (2006.01); B25J 9/00 (2006.01); G06N 3/00 (2006.01);
U.S. Cl.
CPC ...
B25J 9/0006 (2013.01); B25J 9/00 (2013.01); G06N 3/008 (2013.01); Y10S 901/01 (2013.01); Y10S 901/48 (2013.01);
Abstract
A bipedal robot having a pair of legs with 6 degrees of freedom and a control method thereof which calculate a capture point by combining the position and velocity of the center of gravity (COG) and control the capture point during walking to stably control walking of the robot. A Finite State Machine (FSM) is configured to execute a motion similar to walking of a human, and thus the robot naturally walks without constraint that the knees be bent all the time, thereby being capable of walking with a large stride and effectively using energy required while walking.