Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2007-03-13
2007-03-13
Black, Thomas (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S247000, C700S249000, C700S250000, C700S252000, C700S253000, C700S258000, C318S568100, C318S568110, C318S568150, C318S568160, C318S568170, C901S001000, C901S033000, C901S047000, C901S048000
Reexamination Certificate
active
11337497
ABSTRACT:
A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model)100c2that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is calculated or determined based on a difference (full-model ZMP's error) between the calculated model's ZMP and the desired ZMP, whilst a corrected desired body position is calculated or determined. Since the robot posture is corrected by the calculated ZMP-converted value and the corrected desired body position, the corrected gait can satisfy the dynamic equilibrium condition accurately.
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Hasegawa Tadaaki
Matsumoto Takashi
Takenaka Toru
Black Thomas
Honda Giken Kogyo Kabushiki Kaisha
Marc McDieunel
Squire, Sanders & Dempsey LLP.
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