Patent US5428563A successfully refreshed from Google Patents.
US5428563A
Expired / Lapsed
US
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Function generator whose output attains to desired value at designated time
Assignee: Honda Motor Co Ltd
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Filing: 1993-05-20
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Granted: 1995-06-27
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Expires: 2013-05-20
Abstract
Abstract A function generator whose output attains to a desired value at a designated time and in the course of attainment, the desired value and/or designated time can be varied as desired. Therefore, the function generator is most suitable for generating a free leg's trajectory of a biped robot, since the free leg must be landed at a scheduled time and its trajectory may be varied midway in response to a walking condition. The function generator is typically constituted by a digital filter. More specifically, it is constituted by an a recursive digital filter at its initial state and its pole location of a transfer function describing the operation of the filter is varied in the course of attainment to the designated time such that the recursive filter is switched to a non-recursive filter.
Inventors
- 👤 Toru Takenaka
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 23:10
CPC Classifications
H; H03; H03H; H03H17/00; H03H17/02; H03H17/0294
Claims Analysis
Total Claims: 47
Claim 1
Independent Claim
47 words
A function generator comprising: first means for producing an output which is a specific function of its input, and second means for varying characteristics of said first means according to a remaining time up to a desired time such that the output substantially reaches a desired value.
Claim 2
Dependent Claim
47 words
A function generator comprising: first means for producing an output which is a specific function of its input, and second means for varying characteristics of said first means according to a remaining time up to a desired time such that the output substantially reaches a desired value.
Claim 3
Dependent Claim
28 words
A function generator according to claim 1, further including a low-pass filter, and said second means raises the cutoff frequency of the filter according to the remaining time.
Claim 4
Dependent Claim
22 words
A function generator according to claim 2, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 5
Dependent Claim
41 words
A function generator according to claim 1, further including a filter, and said second means varies the location of at least one pole on a complex number plane or a z-plane of a transfer function describing the characteristics of the filter.
Claim 6
Dependent Claim
51 words
A function generator according to claim 3, wherein the filter is an IIR filter, and said second means gradually brings all poles on a z-plane of a transfer function describing the characteristics of the filter to zero such that the all poles disappear immediately before the arrival at the desired time.
Claim 7
Dependent Claim
31 words
A function generator according to claim 5, further including a second function generator, and said second means varies the pole location in response to an output of the second function generator.
Claim 8
Dependent Claim
64 words
A function generator according to claim 6, further including a function generator up to n+1-th (where: n≧2) one and third means for varying the characteristics of the function generator up to the n+1-th one, and said third means varies the pole location of a transfer function describing the characteristics of the n-th function generator in response to an output of the n+1-th function generator.
Claim 9
Dependent Claim
21 words
A function generator according to claim 7, further including a function generator up to m-th (where: m>1) one coupled in series.
Claim 10
Dependent Claim
22 words
A function generator according to claim 8, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 11
Dependent Claim
22 words
A function generator according to claim 7, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 12
Dependent Claim
21 words
A function generator according to claim 6, further including a function generator up to m-th (where: m>1) one coupled in series.
Claim 13
Dependent Claim
22 words
A function generator according to claim 11, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 14
Dependent Claim
22 words
A function generator according to claim 6, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 15
Dependent Claim
21 words
A function generator according to claim 5, further including a function generator up to m-th (where: m>1) one coupled in series.
Claim 16
Dependent Claim
22 words
A function generator according to claim 14, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 17
Dependent Claim
22 words
A function generator according to claim 5, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 18
Dependent Claim
31 words
A function generator according to claim 4, further including a second function generator, and said second means varies the pole location in response to an output of the second function generator.
Claim 19
Dependent Claim
64 words
A function generator according to claim 17, further including a function generator up to n+1-th (where: n≧2) one and third means for varying the characteristics of the function generator up to the n+1-th one, and said third means varies the pole location of a transfer function describing the characteristics of the n-th function generator in response to an output of the n+1-th function generator.
Claim 20
Dependent Claim
21 words
A function generator according to claim 18, further including a function generator up to m--th (where: m>1) one coupled in series.
Claim 21
Dependent Claim
22 words
A function generator according to claim 19, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 22
Dependent Claim
22 words
A function generator according to claim 18, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 23
Dependent Claim
21 words
A function generator according to claim 17, further including a function generator up to m-th (where: m>1) one coupled in series.
Claim 24
Dependent Claim
22 words
A function generator according to claim 22, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 25
Dependent Claim
22 words
A function generator according to claim 17, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 26
Dependent Claim
21 words
A function generator according to claim 4, further including a function generator up to m-th (where: m>1) one coupled in series.
Claim 27
Dependent Claim
22 words
A function generator according to claim 25, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 28
Dependent Claim
22 words
A function generator according to claim 4, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 29
Dependent Claim
49 words
A function generator according to claim 1, further including an IIR digital filter, and said second means gradually brings all poles on a z-plane of a transfer function describing the characteristics of the filter to zero such that the all poles disappear immediately before arrival at the desired time.
Claim 30
Dependent Claim
31 words
A function generator according to claim 28, further including a second function generator, and said second means varies the pole location in response to an output of the second function generator.
Claim 31
Dependent Claim
63 words
A function generator according to claim 29, further including a function generator up to n+1-th (where: n≧2) one and third means for varying the characteristics of the function generator up to n+1-th one, and said third means varies the pole location of a transfer function describing the characteristics of the n-th function generator in response to an output of the n+1-th function generator.
Claim 32
Dependent Claim
21 words
A function generator according to claim 30, further including a function generator up to m-th (where: m>1) one coupled in series.
Claim 33
Dependent Claim
22 words
A function generator according to claim 31, further including a limiter for suppressing sudden change in the output of the function generator.
Claim 34
Dependent Claim
22 words
A function generator according to claim 30, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 35
Dependent Claim
21 words
A function generator according to claim 29, further including a function generator up to m-th (where: m>1) one coupled in series.
Claim 36
Dependent Claim
22 words
A function generator according to claim 34, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 37
Dependent Claim
22 words
A function generator according to claim 29, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 38
Dependent Claim
21 words
A function generator according to claim 28, further including a function generator up to m-th (where: m>1) one coupled in series.
Claim 39
Dependent Claim
22 words
A function generator according to claim 37, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 40
Dependent Claim
22 words
A function generator according to claim 28, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 41
Dependent Claim
21 words
A function generator according to claim 1, further including a function generator up to m-th (where: m>1) one coupled in series.
Claim 42
Dependent Claim
22 words
A function generator according to claim 40, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 43
Dependent Claim
22 words
A function generator according to claim 1, further including a limiter for suppressing rapid change in the output of the function generator.
Claim 44
Dependent Claim
34 words
A function generator according to claim 1, wherein said second means varies the characteristics of the function generator according to state variables of a control object which is provided with the function generator's output.
Claim 45
Dependent Claim
46 words
A function generator according to claim 43, wherein the desired value is a displacement or displacement velocity of a link of a linkage mechanism, and said second means varies the pole location in response to a value proportional to a n-th difference of the link's displacement.
Claim 46
Dependent Claim
59 words
A function generator according to claim 43, wherein the desired value is a displacement or displacement velocity of a link of a linkage mechanism, and said second means varies the characteristics or state variables of a state equation describing the operation of the function generator in response to a value proportional to a n-th difference of the link's displacement.
Claim 47
Dependent Claim
58 words
A function generator according to claim 43, wherein the desired value is a displacement or displacement velocity of links of a linkage mechanism, and said second means varies the characteristics or state variables of a state equation describing the operation of the function generator in response to a glue proportional to a n-th difference of one link's displacement.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1998-06-26 | 1998-12-26 | 1999-06-27 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2002-06-26 | 2002-12-26 | 2003-06-27 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2006-06-26 | 2006-12-26 | 2007-06-27 | $7700.00 | Window Closed / Lapsed |