ALEXANDRIA, Va., Aug. 12 -- United States Patent no. 12,384,051, issued on Aug. 12, was assigned to TOYOTA JIDOSHA K.K. (Toyota, Japan).
"Robot" was invented by Masahiro Doi (Chofu, Japan).
According to the abstract* released by the U.S. Patent & Trademark Office: "A robot that moves on a leg, the robot comprising: a calculation unit that calculates a floor reaction force moment around a vertical axis from a center of gravity and a ZMP trajectory of the robot and a moment orbit around the center of gravity, and obtains a correction amount of a moment vector around the center of gravity when the floor reaction force moment around the vertical axis exceeds a frictional limit; and a control unit that controls the robot based on the correctio...