Patent №
US 5,206,569
Granted
1993-04-27
Filed 1991
Owner
HONDA GIKEN KOGYO KABUSHIKI KAISHA, A CORP. OF JAPAN
Lab
—
AI components
1
planning
Assignment
Recorded
Dataset
AIPD
2023_r1 edition
Application
07800648
A servo system for controlling the locomotion of a biped walking robot, having a body link and two leg linkages each connected to the body link and each including knee joint and ankle joint connecting an upper link and a lower link, to follow up a target angle for each drive joint predetermined in series with respect to time such that the robot walks. In order to cushion shock received at robot foot landing, moment generated at foot landing is detected and drive speed of the joints is feedback controlled in proportion to the detected moment so as to carry out a virtual compliance control on the robot foot.
AI classification
Ownership
HONDA GIKEN KOGYO KABUSHIKI KAISHA, A CORP. OF JAPAN
assignment · 59300018
Assignors
OZAWA, NOBUAKI
On an employer assignment, the assignors are typically the inventors.