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US Patent 7664569 Robot device operation control device and operation control method

Patent 7664569 was granted and assigned to Sony on February, 2010 by the United States Patent and Trademark Office.

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Patent
Patent

Patent attributes

Current Assignee
Sony
Sony
Patent Jurisdiction
United States Patent and Trademark Office
United States Patent and Trademark Office
Patent Number
7664569
Date of Patent
February 16, 2010
Patent Application Number
10498149
Date Filed
October 10, 2003
Patent Citations Received
‌
US Patent 12128570 Handling gait disturbances with asynchronous timing
3
Patent Primary Examiner
‌
Khoi Tran
Patent abstract

A ZMP equilibrium equation stating the relationship of various moments applied to a robot body of a robot, based on desirable motion data made up by trajectories of respective parts, imaginarily divided from the robot body, is generated, and moment errors in a ZMP equilibrium equation are calculated. A priority sequence of the parts, the target trajectories of which are corrected to cancel out the moment errors, is set. The target trajectories are corrected from one part to another, in a sequence corresponding to the priority sequence, to compensate the moment errors.

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