{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-8504208","patent":{"patent_number":"US-8504208","title":"Mobile object controller and floor surface estimator","assignee":null,"inventors":[],"filing_date":"2012-05-24T00:00:00.000Z","publication_date":"2013-08-06T00:00:00.000Z","cpc_codes":["B25J","B62D","G05B","G05B"],"num_claims":15,"abstract":"A total floor reaction force required correction amount by which an error between an observed value of a total floor reaction force acting on a mobile object 101 and a desired total floor reaction force approaches zero is converted to a spring displacement amount of a position/posture of a representative contact surface representative of ground surfaces of the mobile object 101. A correction amount of a displacement amount of each joint of the mobile object 101 is determined by multiplying the spring displacement amount by a pseudo inverse matrix of a Jacobian matrix representing a relation between a change amount of the position and posture of the representative contact surface per unit time and a change amount of a generalized variable vector per unit time. The displacement amount of each joint is controlled according to a corrected desired joint displacement amount obtained by correcting a desired joint displacement amount."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Mobile object controller and floor surface estimator","description":"A total floor reaction force required correction amount by which an error between an observed value of a total floor reaction force acting on a mobile object 101 and a desired total floor reaction for","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-8504208","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-8504208","citation_suggestion":"Patentable. \"Mobile object controller and floor surface estimator\" (US-8504208). https://patentable.app/patents/US-8504208","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-8504208","json":"https://patentable.app/api/llm-context/US-8504208","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-05-30T11:21:14.940Z"}