Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2006-03-14
2006-03-14
Black, Thomas G. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S246000, C700S247000, C700S249000, C700S250000, C700S251000, C700S253000, C700S260000, C180S008100, C180S008200, C180S008700, C318S568100, C318S568110, C318S568120, C318S568170, C318S568220, C318S580000, C901S001000, C901S009000, C901S023000, C901S046000, C901S047000, C901S048000, C701S023000
Reexamination Certificate
active
07013201
ABSTRACT:
A legged mobile robot possesses degrees of freedom which are provided at roll, pitch, and yaw axes at a trunk. By using these degrees of freedom which are provided at the trunk, the robot can smoothly get up from any fallen-down posture. In addition, by reducing the required torque and load on movable portions other than the trunk, and by spreading/averaging out the load between each of the movable portions, concentration of a load on a particular member is prevented from occurring. As a result, the robot is operated more reliably, and energy is used with greater efficiency during a getting-up operation. The invention makes it possible for the robot to independently, reliably, and smoothly get up from various fallen-down postures such as a lying-on-the-face posture, a lying-on-the-back posture, and a lying sideways posture.
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Hattori Yuichi
Ishida Tatsuzo
Yamaguchi Jinichi
Black Thomas G.
Frommer William S.
Frommer & Lawrence & Haug LLP
Marc McDieunel
Sony Corporation
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