Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2004-11-29
2009-10-20
Tran, Khoi (Department: 3664)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S245000, C700S246000, C700S251000, C700S253000, C700S261000, C318S568100, C318S568120, C318S568160, C318S568170, C318S568200, C901S001000, C901S009000, C901S046000, C180S008100, C180S065100, C701S023000, C446S376000, C446S384000
Reexamination Certificate
active
07606634
ABSTRACT:
Ground contact portions10are classified into a tree structure such that each of the ground contact portions10of a mobile body1(mobile robot) equipped with three or more ground contact portions10becomes a leaf node and that an intermediate node exists between the leaf node and a root node having all the leaf nodes as its descendant nodes. On each node (a C-th node) having child nodes, the correction amounts of the desired relative heights of the ground contact portions10of the C-th node are determined such that the relative relationship among the actual node floor reaction forces of the child nodes of the C-th node approximates the relative relationship among the desired node floor reaction forces of the child nodes of the C-th node, and joints of the mobile body1are operated so that a desired relative height obtained by combining the correction amounts is satisfied.
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Matsumoto Takashi
Takenaka Toru
Yoshiike Takahide
Honda Motor Co. Ltd.
Marc McDieunel
Rankin , Hill & Clark LLP
Tran Khoi
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