Humanoid robot that can dynamically walk with limited available footholds in the presence of disturbances
US8942848B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 6, 2012 |
| Grant date | Jan 27, 2015 |
| Priority date | — |
| Expiry date | Dec 5, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0891
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A control system for a bipedal humanoid robot that utilizes certain fundamental characteristics of bipedal motion to provide a robust and relatively simple balancing and walking mechanism. The system primarily utilizes the concept of “capturability,” which is defined as the ability of the robot to come to a stop without falling by taking N or fewer steps. This ability is considered crucial to legged locomotion and is a useful, yet not overly restrictive criterion for stability. In the preferred embodiment, the bipedal robot is maintained in a 1-step capturable state. This means that future step-locating and driving decisions are made so that the robot may always be brought to a balanced halt with the taking of one step. Other embodiments maintain the bipedal robot in an N-step capturable state, in which the robot may always be brought to a balanced halt by taking N or fewer steps.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.