Walking robot by using passive changes in joint angles and...

Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems

Reexamination Certificate

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Details

C318S568200, C901S001000, C901S002000, C901S015000

Reexamination Certificate

active

07663332

ABSTRACT:
In a robot with two or more leg links having ankle joint respectively and pivotably linked to a torso, the robot walks naturally by making the ankle joint of a grounded leg link rotate freely by using passive movement. A controller executes controlling operation of calculating target joint angles of remaining joints other than the ankle joint of the grounded leg link based upon the measured joint angles of the ankle joint of the grounded leg link in the lateral and forward direction. The target joint angles of the remaining joints are calculated so as to satisfy the following condition that a tilting angle of the torso matches a target tilting angle determined based upon the measured joint angle of the ankle joint of the grounded leg link in the forward direction, a cycle period of the idle leg link from lifting to grounding, and a target stride of the idle leg link.

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M Doi, et al., “Passive Trajectory Control of the Lateral Motion in Bipedal Walking,”Proceedings of the 2004 IEEE, New Orleans, LA—Apr. 2004, pp. 3049-3054 Written Opinion of the ISA.

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