Patent Liability Analysis
Seongwoon Ko
Kelton Stefan
Jinliang Wei
Ankith Cherala
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Self-balancing Biped Robot is a robot that
performs fundamental functionality of human
legs, such as moving, and changing
directions.
For the patent analysis, the focus was on
◦ The methods of calculation for the motion.
◦ The methods of balancing the robot.
Patent Number
Date Granted
Title
7,119,510 B2
Oct. 10, 2006
Method of assuming acting point of
floor reaction force to biped walking
mobile body and method of assuming
joint movement of biped mobile body
7,835,822 B2
Nov. 16, 2010 Systems and methods for controlling a
legged robot using a two-phase
disturbance response strategy
Pending patent applications
Patent Number
Date Granted
Title
2010/0161116 A1 Jun. 24, 2010 Robot and method of controlling
balance thereof
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7,119,510 B2: Floor reaction force position
approximation uses similar approach in a way
that assumes the midpoint of the contact area to
be reaction point.
7,835,822 B2: Possible conflict with similar twophase system reflex phase/recovery phase
approach.
2010/0161116 A1: This method uses Finite State
Model to reduce the left and right shift of the
robot. Similar in the aspect that the robot moves
in a finite state to keep the balance.