Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2008-07-15
2008-07-15
Tran, Khoi H. (Department: 3664)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S246000, C700S251000, C700S253000, C700S260000, C700S261000, C318S568100, C318S568120, C318S568160, C318S568170, C318S568200, C901S001000, C901S009000, C901S046000
Reexamination Certificate
active
07400939
ABSTRACT:
A motion equation with a boundary condition regarding a future center-of-gravity horizontal trajectory of a robot is solved so that the moment around a horizontal axis at a point within a support polygon is zero when the robot is in contact with a floor or so that horizontal translational force is zero when the robot is not in contact with the floor and so that connection is made to a current horizontal position and speed of the center of gravity. In addition, a motion equation with a boundary condition regarding a future center-of-gravity vertical trajectory of the robot is solved so that vertical translational force acting upon the robot other than gravity is zero when the robot is not in contact with the floor and so that connection is made to a current vertical position and speed of the center of gravity. A motion state of a next time is determined so that, when the robot is not in contact with the floor, the moment around the center of gravity is zero, and the determined center-of-gravity position is achieved. Therefore, a stable motion pattern which allows transition between a floor contact period and a floor non-contact period is generated in real time.
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Marc McDieunel
Oblon & Spivak, McClelland, Maier & Neustadt P.C.
Sony Corporation
Tran Khoi H.
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