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:
Nov. 14, 2017
Filed:
Oct. 13, 2015
Honda Motor Co., Ltd., Tokyo, JP;
The University of Tokyo, Tokyo, JP;
Masao Kanazawa, Saitama, JP;
Masayuki Inaba, Tokyo, JP;
Kei Okada, Tokyo, JP;
Yohei Kakiuchi, Tokyo, JP;
Shunichi Nozawa, Tokyo, JP;
HONDA MOTOR CO., LTD., Tokyo, JP;
THE UNIVERSITY OF TOKYO, Tokyo, JP;
Abstract
A controllerfor a mobile robotestimates, in a climbing up or down motion of the robot, the difference between the actual position and attitude of a distal end portionof a to-be-supported movable linkthat has been supported by a structure A and the desired position and attitude thereof, and determines a motion target of the robotsuch that at least either the desired relative position/attitude of the distal end portionof the to-be-supported movable linkwith respect to a base bodyor the desired support position/attitude of the distal end portionof a to-be-moved movable link, which is to be moved, is adjusted according to the estimated value of the difference.