Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Reexamination Certificate
2005-09-13
2005-09-13
Martin, David (Department: 2837)
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
C318S568180, C318S568200, C318S568220, C901S001000, C700S245000
Reexamination Certificate
active
06943520
ABSTRACT:
Disclosed is a biped walking mobile system which achieves stability without altering a preestablished gait, and a walk controller and control method therefor. The biped walking mobile apparatus includes a gait former for forming gait data and a walk controller for controlling actions of the drive means based on the gait data. The walk controller includes a ZMP compensator, including: a ZMP sensor, a ZMP converter for computing a ZMP target value based on the gait data from the gait former, and a ZMP compensating stage for comparing the actual measurement value of ZMP detected by the ZMP sensor with the ZMP target value from the ZMP converter to modify the targeted angular velocity and acceleration in the gait data and thereby to compensate or correct the ZMP target value. Thus, the targeted angular path of movement in the gait data remains unaltered when the ZMP target value is compensated.
REFERENCES:
patent: 5355064 (1994-10-01), Yoshino et al.
patent: 5432417 (1995-07-01), Takenaka et al.
patent: 5459659 (1995-10-01), Takenaka
patent: 5808433 (1998-09-01), Tagami et al.
patent: 2003/0125839 (2003-07-01), Takenaka et al.
patent: 2003/0139849 (2003-07-01), Kuroki et al.
patent: 2003/0144763 (2003-07-01), Mori et al.
patent: 2004/0044440 (2004-03-01), Takenaka
patent: 2004/0122556 (2004-06-01), Mori et al.
patent: 2004/0211603 (2004-10-01), Furuta et al.
patent: 2004/0254679 (2004-12-01), Nagasaka
patent: 1 081 026 (2001-03-01), None
patent: 05-305583 (1993-11-01), None
patent: 2001-138273 (2001-05-01), None
patent: 2002326173 (2002-11-01), None
patent: 2004174652 (2004-06-01), None
Furuta Takayuki
Kitano Hiroaki
Tomiyama Ken
Colon Santana Eduardo
Japan Science and Technology Agency
Martin David
Westerman Hattori Daniels & Adrian LLP
LandOfFree
Two-legs walking type moving device, method and device for... does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Two-legs walking type moving device, method and device for..., we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Two-legs walking type moving device, method and device for... will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-3405024