http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-2020206925-A1
Outgoing Links
| Predicate | Object |
|---|---|
| assignee | http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_b3ad5f6b41a7dbcdbf6d9506a2bdf39e |
| classificationCPCAdditional | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05B2219-36429 |
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1653 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05D1-0891 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B62D57-032 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1607 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1633 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1664 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05B19-19 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J9-16 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G05B19-19 |
| filingDate | 2019-10-23-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor | http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_99de0ecebcb525183b04ffd2c9e0ca64 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_0367e5ed21c6310d9bf6cbf6ce16f121 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_d7a81ddab5dd450cab8cbdd0b4c90ff6 |
| publicationDate | 2020-07-02-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | US-2020206925-A1 |
| titleOfInvention | Impedance control method for biped robot and apparatus and biped robot using the same |
| abstract | The present disclosure provides an impedance control method for a biped robot as well as an apparatus and a biped robot using the same. The method includes: correcting an impact force on a landing leg in the two legs of the biped robot using a natural attenuation function, and taking the corrected impact force as an input of an impedance control; obtaining an impedance model of the biped robot; determining a transfer function of the impedance control based on the impedance model; calculating an output of the impedance control based on the input of the impedance control and the transfer function of the impedance control; determining a joint angle of each joint based on the output of the impedance control and a planned pose of the biped robot; and transmitting joint angle information of each joint to motor(s) of the joint to perform the impedance control. |
| priorityDate | 2018-12-29-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID419502926 http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID5572 |
Total number of triples: 23.