Resources Contact Us Home
Robot and motion control method of robot

Image Number 2 for United States Patent #7053577.

When the sole of the foot of one of the leg sections of the robot leaves or touch the floor, the angular velocity of the joint angle .theta. of each of the joints of the leg section of the robot becomes infinitely large and excessive loads are applied to the respective joints if the leg section is stretched out or the robot takes some other peculiar attitude. Therefore, when the sole of the foot section of a leg section leaves or touches the floor, the constraining conditions are defined for the foot section relative to the floor surface that the foot section touches according to the degree of operability of the leg section in order to reduce the loads that are applied to the respective joints of the leg section. Additionally, the attitude of the foot section is determined so as to minimize or reduce the potential energy attributable to a minute quantity of positional changes of the joints of the leg section.

  Recently Added Patents
Process to extract quassinoids
Apparatus and method for foreground detection
Display fixture for highlighting products
Disposable and tamper-resistant RFID lock
Display apparatus, control method thereof, and program
Image forming apparatus having a primary transfer unit, a secondary transfer unit, and a direct transfer unit
Method of preparing MgB.sub.2 superconducting wire and the MgB.sub.2 superconducting wire prepared thereby
  Randomly Featured Patents
Fluorescent substance, process for production of fluorescent substance, light-emitting device and light-emitting module
Fixed focal balloon for interactive angioplasty and stent implantation
Pneumatic tire having a run-flat insert structure
Method and apparatus for providing content to a computing device
Compounds of the saframycin-ecteinascidin series, uses, and synthesis thereof
Energy absorbing knee bolster assembly
Process for preparing L-amino acids using improved strains of the Enterobacteriaceae family
Mechanism to reduce instruction cache miss penalties and methods therefor
Method and means for interconnecting different security level networks
Multiple factor private portion of an asymmetric key