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:
Jan. 03, 2017
Filed:
Jul. 17, 2015
Honda Motor Co., Ltd., Tokyo, JP;
HONDA MOTOR CO., LTD., Tokyo, JP;
Abstract
A control device for a mobile robot capable of stabilizing the posture of the mobile robot while in motion is provided. A control unit () for a mobile robot () includes a required total floor reaction force central point position calculating unit which calculates a required total floor reaction force central point position (Pzmp() to Pzmp()) as a position of a total floor reaction force central point by using, as a factor, a first total floor reaction force center reference position (SP() to SP()) which is defined on the basis of a current time's supporting region (Sdto Sd), i.e. a smallest convex region including ground contact surfaces of current time's supporting limbs, and a next time's supporting region (Sdto Sd), i.e. a smallest convex region including ground contact surfaces of next time's supporting limbs.