Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2005-05-31
2005-05-31
Camby, Richard M. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S246000, C700S250000, C700S254000, C700S260000, C700S261000, C700S262000, C318S568120, C318S568150, C901S001000, C901S002000, C180S008100, C180S008600, C701S023000
Reexamination Certificate
active
06901313
ABSTRACT:
A legged mobile robot controls the posture of the body thereof in a stable manner using a ZMP stability determination criterion with a relatively long sampling period. The legged mobile robot has a stable ZMP region which is a supporting polygon formed of the ground contact point of a sole of a movable leg and a walking surface, and a ZMP behavior space in which a momentum of the robot body is generated so that the ZMP shifts to the approximate center of the stable ZMP region. In the ZMP behavior space, the momentum of the robot shifts in a positive direction or in a negative direction. In the negative direction, a space distortion shifts the ZMP to the periphery of the stable region, and in the positive direction, a space distortion shifts the ZMP to the center of the stable region.
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Hattori Yuichi
Mori Naoto
Yamaguchi Jinichi
Camby Richard M.
Frommer William S.
Frommer & Lawrence & Haug LLP
Marc McDieunel
Simon Darren M.
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