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. 09, 2018
Filed:
Jul. 17, 2015
Applicant:
Honda Motor Co., Ltd., Tokyo, JP;
Inventors:
Yutaka Takagi, Saitama, JP;
Chiaki Tanaka, Saitama, JP;
Assignee:
HONDA MOTOR CO., LTD., Tokyo, JP;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
G05B 19/04 (2006.01); G05B 19/18 (2006.01); B25J 9/16 (2006.01); B62D 57/032 (2006.01); G05B 19/4063 (2006.01);
U.S. Cl.
CPC ...
B25J 9/1674 (2013.01); B62D 57/032 (2013.01); G05B 19/4063 (2013.01); G05B 2219/42281 (2013.01); G05B 2219/42282 (2013.01); G05B 2219/42289 (2013.01); Y10S 901/01 (2013.01);
Abstract
The present invention provides a control device for a mobile robot. While a mobile robotis in a predetermined motion state, if a load evaluation amount, which is either the magnitude of a load detected on a particular joint or an estimated temperature value of a joint actuator for driving the joint, exceeds a predetermined threshold value, then a desired displacement amount of each joint of the mobile robotis determined with a requirement that the load evaluation amount remains to be the threshold value or less, and the joint actuator is controlled on the basis of the determined desired displacement amount.