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. 31, 2015
Filed:
Mar. 18, 2013
Applicant:
Hyundai Motor Company, Seoul, KR;
Inventors:
Seok Won Lee, Chungcheongnam-do, KR;
Woo Sung Yang, Seoul, KR;
Assignee:
Hyundai Motor Company, Seoul, KR;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 5/00 (2006.01); B25J 9/16 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1607 (2013.01); Y10S 901/01 (2013.01);
Abstract
A method includes determining whether a robot is walking and a direction in which the robot is walking; measuring an amount of time taken for a sole of a foot of the robot to step on the ground; calculating an imaginary reaction force applied to the sole using a trigonometric function having, as a period, the measured amount of time taken for the sole to step on the ground; and applying the calculated imaginary reaction force to a Jacobian transposed matrix and converting the imaginary reaction force into a drive torque for a lower extremity joint of the robot.