Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2002-12-19
2008-08-05
Black, Thomas G. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S258000, C700S260000, C700S251000, C180S008100, C318S568120, C318S568100, C318S568160, C318S568170, C318S568200, C901S033000
Reexamination Certificate
active
07409265
ABSTRACT:
It is arranged such that displacement sensors (70) are installed at a position in or vicinity of elastic members (382), to generate outputs indicating a displacement of the floor contact end of a foot (22) relative to a second joint (18, 20), and a floor reaction force acting on the foot is calculated based on the outputs of the displacement sensors by using a model describing a relationship between the displacement and stress generated in the elastic members in response to the displacement, thereby enabling to achieve accurate calculation of the floor reaction force and more stable walking of a legged mobile robot (1). Further, a dual sensory system is constituted by combining different types of detectors, thereby enabling to enhance the detection accuracy. Furthermore, since it self-diagnoses whether abnormality or degradation occurs in the displacement sensors etc. and performs temperature compensation without using a temperature sensor, the detection accuracy can be further enhanced.
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Tomokazu Kato, “Fukusushu no Sensor o Mochiita Foot-tsuki Toritsu Niju Furiko no Seigyo”, The Robotics Society of Japan Gakujutsu Koenkai Yokoshu, Sep. 9, 19999, vol. 17, seperate vol. 3, pp. 999-1000.
Gomi Hiroshi
Matsumoto Takashi
Shigemi Satoshi
Takenaka Toru
Black Thomas G.
Honda Giken Kogyo Kabushiki Kaisha
Louie Wae
Squire Sanders & Dempsey L.L.P.
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