Boots – shoes – and leggings
Patent
1984-06-18
1986-11-04
Smith, Jerry
Boots, shoes, and leggings
364174, 318568, 901 9, G05B 1300
Patent
active
046213325
ABSTRACT:
Method and apparatus for controlling a robot wherein a force signal is calculated by detecting a force applied to a hand of the robot, a first value representing a difference between the force signal and a force reference is calculated, a second value representing a product of a difference between a position signal representing current position and attitude of the hand and a position reference, multiplied by a spring constant is calculated, a third value representing a product of a velocity signal representing a current velocity of the hand, multiplied by a viscosity coefficient is calculated, and a command velocity of the hand is calculated based on the first, second and third values and a mass coefficient.
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Arai Shinichi
Hirabayashi Hisaaki
Sakaue Shiyuki
Sugimoto Koichi
Hitachi , Ltd.
MacDonald Allen
Smith Jerry
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