Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2005-07-19
2005-07-19
Black, Thomas G. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S246000, C700S251000, C700S260000, C700S261000, C318S568100, C318S568120, C318S568160, C318S568170, C318S568200
Reexamination Certificate
active
06920374
ABSTRACT:
A floor shape estimation system for a legged mobile robot, in particular a biped walking robot, which estimates a floor shape, more specifically a foot-to-foot floor inclination difference based on at least a control error of the total floor reaction force's moment and based on the estimated value and corrects a feet compensating angle based on the estimated value. Further, the system estimates a floor shape, more specifically a foot floor inclination difference based on at least a control error of the foot floor reaction force about a desired foot floor reaction force central point and corrects a foot compensating angle based on the estimated value. With this, it can accurately estimate the shape of a floor with which the robot is in contact. Further, if the floor shape is different from what has been supposed, it can produce the floor reaction force as desired by absorbing the influence of difference.
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Hasegawa Tadaaki
Matsumoto Takashi
Takenaka Toru
Black Thomas G.
Honda Giken Kogyo Kabushiki Kaisha
Marc McDieunel
Squire Sanders & Dempsey L.L.P.
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