Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2003-10-10
2010-02-16
Tran, Khoi (Department: 3664)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S247000, C700S248000, C700S249000, C700S258000, C700S259000, C318S568110, C318S568120, C318S568200, C318S569000, C901S001000, C901S015000, C901S047000
Reexamination Certificate
active
07664569
ABSTRACT:
A ZMP equilibrium equation stating the relationship of various moments applied to a robot body of a robot, based on desirable motion data made up by trajectories of respective parts, imaginarily divided from the robot body, is generated, and moment errors in a ZMP equilibrium equation are calculated. A priority sequence of the parts, the target trajectories of which are corrected to cancel out the moment errors, is set. The target trajectories are corrected from one part to another, in a sequence corresponding to the priority sequence, to compensate the moment errors.
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Kuroki Yoshihiro
Shimizu Satoru
Yamaguchi Jinichi
Frommer William S.
Frommer & Lawrence & Haug LLP
Marc McDieunel
Presson Thomas F.
Sony Corporation
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