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:
Jun. 30, 2015
Filed:
Nov. 28, 2012
Applicant:
Hyundai Motor Company, Seoul, KR;
Inventor:
Woo Sung Yang, Gyeonggi-do, KR;
Assignee:
Hyundai Motor Company, Seoul, KR;
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
B25J 13/08 (2006.01); B25J 9/16 (2006.01); B62D 57/032 (2006.01);
U.S. Cl.
CPC ...
B25J 13/085 (2013.01); Y10S 901/01 (2013.01); B25J 9/1633 (2013.01); B62D 57/032 (2013.01);
Abstract
Disclosed herein is a system and method of controlling one or more ankles of a walking robot. In the above system and method, an input torque u to be applied to an ankle of a robot is obtained by compensating a target torque τwith an acting torque τmeasured using a sensor and applied by a support surface and then an actual torque τ applied by the ankle of a foot is instead fed back into the control system. Therefore, proper balance of the walking robot is ensured.