Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Reexamination Certificate
2006-06-13
2006-06-13
Leykin, Rita (Department: 2837)
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
C318S568110, C318S568120, C901S001000
Reexamination Certificate
active
07061198
ABSTRACT:
A method of controlling a biped walking robot to balance the robot based on a sensed ground reaction force. In the method, X and Y coordinates are assigned to positions of sensors attached to a sole of a leg of the robot and a corresponding Z coordinate is assigned for at least three of the sensors based on the sensed ground reaction force sensed by at the sensors, respectively. A ground reaction force plane is specified based on the sensed ground reaction force and a normal vector perpendicular to the ground reaction force plane is calculated. A roll angle about an X-axis and a pitch angle about a Y-axis are calculated and an actuator is driven in correspondence to the roll angle and the pitch angle to move a part of the robot to align the normal vector with a reference vector of the gravity direction.
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Korean Intellectual Property Office, Notice of Official Action, Patent Application No. 10-2003-00-46206.
Kwak Joo-young
Lee Yong-kwun
Oh Yeon-taek
Roh Kyoung-sig
Son Young
Leykin Rita
Samsung Electronics Co,. Ltd.
Staas & Halsey , LLP
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