Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2004-08-23
2010-02-02
Black, Thomas G (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S245000, C700S247000, C318S568170, C318S568200, C706S010000
Reexamination Certificate
active
07657345
ABSTRACT:
The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.
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Yamasaki, et al. “Phase reset and dynamic stability during human gait” Mar. 2003, Science Direct, BioSystems 71, pp. 221-232.
Cheng Gordon
Endo Gen
Kawato Mitsuo
Morimoto Jun
Nakanishi Jun
Advanced Telecommunications Research Institute International
Behncke Christine M
Black Thomas G
Oblon, Spivak McClelland, Maier & Neustadt, L.L.P.
Sony Corporation
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