Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Reexamination Certificate
2005-11-08
2005-11-08
Leykin, Rita (Department: 2837)
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
C318S568110, C901S001000, C700S245000
Reexamination Certificate
active
06963185
ABSTRACT:
A system for estimating a posture angular velocity of a predetermined part, such as a body3, of a robot by using motion state amounts of the robot, including a desired motion of a desired gait, a detected value of a joint displacement, and a desired value of a joint displacement of a robot1having a gyro sensor (angular velocity sensor) mounted on the body3or the like in a case where no slippage is taking place between the robot and a floor, e.g., a state wherein the robot is not in a motion. A drift correction value of the angular velocity sensor is determined on the basis of a difference between the estimated value of the posture angular velocity and a detected posture angular velocity value by the angular velocity sensor, and the detected posture angular velocity value corrected by the drift correction value is integrated to determine an estimated value of the posture angle of the predetermined part.
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WO 02/40224 A1, Gait Pattern Generating Device for Legged Mobile Robot, Publication Date: May 23, 2002.
WO 03/057425 A1, Gait Producing Device for Leg Type Movable Robot, and Control Device, Publication Date: Jul. 17, 2003.
Matsumoto Takashi
Takenaka Toru
Honda Giken Kogyo Kabushiki Kaisha
Leykin Rita
Rankin, Hill Porter & Clark LLP
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