Function generator whose output attains to desired value at desi

Details Function generator whose output attains to desired value at desi Function generator whose output attains to desired value at desi

1993-05-20

1995-06-27

Mai, Tan V.

Boots, shoes, and leggings

36472401, 364825, G06G 716, G06G 702, G06F 1531

Patent

active

054285631

ABSTRACT:
A function generator whose output attains to a desired value at a designated time and in the course of attainment, the desired value and/or designated time can be varied as desired. Therefore, the function generator is most suitable for generating a free leg's trajectory of a biped robot, since the free leg must be landed at a scheduled time and its trajectory may be varied midway in response to a walking condition. The function generator is typically constituted by a digital filter. More specifically, it is constituted by an a recursive digital filter at its initial state and its pole location of a transfer function describing the operation of the filter is varied in the course of attainment to the designated time such that the recursive filter is switched to a non-recursive filter.

REFERENCES:
patent: 5050118 (1991-09-01), Inoue et al.
patent: 5073748 (1991-12-01), Boehm
patent: 5150317 (1992-09-01), Countryman
Martin, "Simulation of Function with Variable Poles", Electronics Letters, 27th Dec. 1968 vol. 4 No. 26, pp. 594-595.
Edelston, "Tunable Filter Designs Simplify Real-Time Digital Rate of Change Estimation", Control Engineering, Sep., No. 9, St. Pontiac, Ill., U.S.A., 1983, pp. 161-166.
B. P. Lathi, Signals and Systems (Berkeley-Cambridge 1987), pp. 376-415.
R. A. Roberts and C. T. Mullis, Digital Signal Processing (Addison-Wesley 1987), pp. 173-471.
English language Abstract of JP 61042008 (publication date 28 Feb. 1986).

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