Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2008-05-27
2008-05-27
Tran, Khoi H. (Department: 3664)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S246000, C700S251000, C700S253000, C700S260000, C700S261000, C318S568100, C318S568120, C318S568160, C318S568170, C318S568200, C901S001000, C901S009000, C901S046000
Reexamination Certificate
active
07379789
ABSTRACT:
A permissible range of a restriction object amount, which is a vertical component of a floor reaction force moment or a component of the floor reaction force moment in floor surface normal line direction, or a vertical component of an angular momentum changing rate of the robot or a component of the angular momentum changing rate in floor surface normal line direction, is set, and at least a provisional instantaneous value of a desired motion is input to a dynamic model so as to determine an instantaneous value of a model restriction object amount as an output of the dynamic model. An instantaneous value of a desired motion is determined by correcting the provisional instantaneous value of the desired motion such that at least the instantaneous value of the model restriction object amount falls within the permissible range.
REFERENCES:
patent: 6969965 (2005-11-01), Takenaka et al.
patent: 2005/0110448 (2005-05-01), Takenaka et al.
patent: 2005/0126833 (2005-06-01), Takenaka et al.
patent: 2005/0228539 (2005-10-01), Takenaka et al.
patent: 2005/0240306 (2005-10-01), Takenaka et al.
patent: 2006/0184276 (2006-08-01), Takenaka et al.
patent: 05-324115 (1993-12-01), None
patent: 05-337849 (1993-12-01), None
patent: 10-086080 (1998-04-01), None
patent: 10-086081 (1998-04-01), None
patent: 10-277969 (1998-10-01), None
patent: 2002-326173 (2002-11-01), None
patent: WO 02/40224 (2002-05-01), None
patent: WO 03/057423 (2003-07-01), None
patent: WO 03/057425 (2003-07-01), None
patent: WO 03/057427 (2003-07-01), None
patent: WO 03/058355 (2003-07-01), None
patent: WO 03/061917 (2003-07-01), None
Zhang et al., A new method of desired gait synthesis in biped robot, 2000, IEEE, p. 1300-1304.
Matsumoto Takashi
Takenaka Toru
Yoshiike Takahide
Honda Motor Co. Ltd.
Marc McDieunel
Rankin , Hill & Clark LLP
Tran Khoi H.
LandOfFree
Gait generating device of legged mobile robot and legged... does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Gait generating device of legged mobile robot and legged..., we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Gait generating device of legged mobile robot and legged... will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2813346