DETAILED ACTION
Notice of Pre-AIA or AIA Status
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
Claim Rejections - 35 USC § 101
35 U.S.C. 101 reads as follows:
Whoever invents or discovers any new and useful process, machine, manufacture, or composition of matter, or any new and useful improvement thereof, may obtain a patent therefor, subject to the conditions and requirements of this title.
Claim 1, A computer-implemented center of mass (COM) planning method for a robot, the method comprising:
obtaining a planning position of the COM and a planning speed of the COM of the robot, and calculating a planning capture point of the robot according to the planning position of the COM and the planning speed of the COM;
obtaining a measured position of the COM and a measured speed of the COM of the robot, and calculating a measured capture point of the robot according to the measured position of the COM and the measured speed of the COM;
calculating a desired zero moment point (ZMP) of the robot based on the planning capture point and the measured capture point;
obtaining a measured ZMP of the robot, and calculating an amount of change in a position of the COM of the robot according to the desired ZMP and the measured ZMP; and
correcting the planning position of the COM according to the amount of change in the position of the COM to obtain a corrected planning position of COM.
Claim 2, The method of claim 1, wherein calculating the amount of change in the position of the COM of the robot according to the desired ZMP and the measured ZMP comprises:
calculating an acceleration of the COM of the robot according to the desired ZMP and the measured ZMP;
obtaining a first speed of the COM of the robot at a previous moment, and calculating a second speed of the COM of the robot at a current moment according to the first speed of the COM, the acceleration of the COM and a preset control cycle; and
obtaining a first amount of change in the position of the COM at the previous moment, and calculating a second amount of change in the position of the COM at the current moment according to the first amount of change in the position of the COM, the acceleration of the COM, the second speed of the COM and the control cycle.
Claim 3, The method of claim 2, wherein the acceleration of the COM of the robot is calculated according to the following equation:
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zmp = Kzmp
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(Px - Pm), where px
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represents the desired ZMP, pm represents the measured ZMP, Kzmp represents a preset ZMP tracking controller parameter, g represents the acceleration of gravity, Ze represents a height of the COM of the robot, and represents the acceleration of the COM.
Claim 4, The method of claim 2, wherein the second speed of the COM is calculated according to the following equation: mp(k)=
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-1) + XizmpAt, where
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-1) represents the first speed of the COM,
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represents the acceleration of the COM, at represents the control
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represents the second speed of the COM.
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Claim 5, The method of claim 2, wherein the second amount of change in the position of the COM is calculated according to the following equation: AX(k) = AX(k - 1) + t + 0.5.
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(At)2, where AX(k - 1) represents the first amount of change in the position of the COM,
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mp represents the acceleration of the COM, At represents the control cycle,
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represents the second speed of the COM, and AX(k) represents the second amount of change in the position of the COM.
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Claim 6, The method of claim 1, wherein the planning capture point is calculated according to the following equation:
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an=Xplan+
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where
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represents the planning position of the COM,
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represents the planning speed of the COM, o. represents a preset frequency,
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and (plan represents the planning capture point; the measured capture point is calculated according to the following equation: asure=Xmeasure+xmeasuewhere Xmeasure represents the measured position of the represents the measured speed of the COM, and (measure represents the measured capture point.
Claim 7, The method of claim 1, wherein the desired ZMP is calculated according to the following equation: px=Kcontroian + (1 - Kcpcontroi)(measure,where (plan represents the planning capture point, (measure represents the measured capture point, K cn- represents a preset controller parameter, and px represents the desired ZMP.
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Claim 8, A legged robot comprising:
one or more processors; and
a memory coupled to the one or more processors, the memory storing programs that, when executed by the one or more processors, cause performance of operations comprising:
obtaining a planning position of the COM and a planning speed of the COM of the robot, and calculating a planning capture point of the robot according to the planning position of the COM and the planning speed of the COM;
obtaining a measured position of the COM and a measured speed of the COM of the robot, and calculating a measured capture point of the robot according to the measured position of the COM and the measured speed of the COM;
calculating a desired zero moment point (ZMP) of the robot based on the planning capture point and the measured capture point;
obtaining a measured ZMP of the robot, and calculating an amount of change in a position of the COM of the robot according to the desired ZMP and the measured ZMP; and
correcting the planning position of the COM according to the amount of change in the position of the COM to obtain a corrected planning position of COM.
Claim 9, The robot of claim 8, wherein calculating the amount of change in the position of the COM of the robot according to the desired ZMP and the measured ZMP comprises:
calculating an acceleration of the COM of the robot according to the desired ZMP and the measured ZMP;
obtaining a first speed of the COM of the robot at a previous moment, and calculating a second speed of the COM of the robot at a current moment according to the first speed of the COM, the acceleration of the COM and a preset control cycle; and
obtaining a first amount of change in the position of the COM at the previous moment, and calculating a second amount of change in the position of the COM at the current moment according to the first amount of change in the position of the COM, the acceleration of the COM, the second speed of the COM and the control cycle.
Claim 10, The robot of claim 9, wherein the acceleration of the COM of the robot is calculated according to the following equation:
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(p-pm), where px represents the desired ZMP, pm represents the measured ZMP, Kzmp represents a preset ZMP tracking controller parameter, g represents the acceleration of gravity, Zc represents a height of the COM of the robot, and
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represents the acceleration of the COM.
Claim 11, The robot of claim 9, wherein the second speed of the COM is calculated according to the following equation:
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mp(k) =
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-1)+, where Xzmp(k-1) represents the first speed of the COM,
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represents the acceleration of the COM, At represents the control
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represents the second speed of the COM.
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Claim 12, The robot of claim 9, wherein the second amount of change in the position of the COM is calculated according to the following equation: AX(k) =AX(k-1)+
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t + 0.(At)2, where AX(k - 1) represents the first amount of change in the position of the COM,
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represents the acceleration of the COM, At represents the control cycle,
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represents the second speed of the COM, and AX(k) represents the second amount of change in the position of the COM.
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Claim 13, The robot of claim 8, wherein the planning capture point is calculated according to the following equation:
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-Xplan +
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represents the planning position of the COM,
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represents the planning speed of the COM, O represents a preset frequency, and
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4plan represents the planning capture point; the measured capture point is calculated according to the following equation:
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-asureXmeasure+xmeasurewhere Xmeasure represents the measured position of the COM,
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asure represents the measured speed of the COM, and
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represents the measured capture point.
Claim 14, The robot of claim 8, wherein the desired ZMP is calculated according to the following equation: px
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an + (1 - Kcpcontro where
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an represents the planning capture point,
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asure represents the measured capture point, Kconroi represents a preset controller parameter, and px represents the desired ZMP.
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Claim 15, A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of a legged robot, cause the at least one processor to perform a method, the method comprising:
obtaining a planning position of the COM and a planning speed of the COM of the robot, and calculating a planning capture point of the robot according to the planning position of the COM and the planning speed of the COM;
obtaining a measured position of the COM and a measured speed of the COM of the robot, and calculating a measured capture point of the robot according to the measured position of the COM and the measured speed of the COM;
calculating a desired zero moment point (ZMP) of the robot based on the planning capture point and the measured capture point;
obtaining a measured ZMP of the robot, and calculating an amount of change in a position of the COM of the robot according to the desired ZMP and the measured ZMP; and
correcting the planning position of the COM according to the amount of change in the position of the COM to obtain a corrected planning position of COM.
Claim 21, The non-transitory computer-readable storage medium of claim 15, wherein calculating the amount of change in the position of the COM of the robot according to the desired ZMP and the measured ZMP, comprises:
performing iterative update on the amount of change in the position of the COM of the robot according to the desired ZMP and the measured ZMP.
Claim 22, The non-transitory computer-readable storage medium of claim 21, wherein performing the iterative update on the amount of change in the position of the COM of the robot according to the desired ZMP and the measured ZMP comprises:
calculating an acceleration of the COM of the robot according to the desired ZMP and the measured ZMP;
obtaining a first speed of the COM of the robot at a previous moment, and calculating a second speed of the COM of the robot at a current moment according to the first speed of the COM, the acceleration of the COM and a preset control cycle; and
obtaining a first amount of change in the position of the COM at the previous moment, and calculating a second amount of change in the position of the COM at the current moment according to the first amount of change in the position of the COM, the acceleration of the COM, the second speed of the COM and the control cycle.
Claim 23, The non-transitory computer-readable storage medium of claim 22, wherein the acceleration of the COM of the robot is calculated according to the following equation:
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= Kzmp
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(Px - Pm), where px represents the desired ZMP, pm represents the measured ZMP,
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Kzmp represents a preset ZMP tracking controller parameter, g represents the acceleration of gravity, Zc represents a height of the COM of the robot, and represents the acceleration of the COM.
Claim 24, The non-transitory computer-readable storage medium of claim 22, wherein the second speed of the COM is calculated according to the following equation: _
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mp(k-1) +XzmpAt , where
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-1) represents the first speed of the COM,
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represents the acceleration of the COM, At represents the control cycle, and
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represents the second speed of the COM.
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Claim 25, The non-transitory computer-readable storage medium of claim 22, wherein the second amount of change in the position of the COM is calculated according to the following equation: AX(k) = AX(k - 1) + (At)2, where AX(k - 1) represents the first amount of change in the position of the COM,
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represents the acceleration of the COM, At represents the control cycle,
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represents the second speed of the COM, and AX(k) represents the second amount of change in the position of the COM.
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Step 1 - Statutory category – Yes
Claims 1-15 and 21-25 are rejected under 35 U.S.C. 101 because the claimed invention is directed to an abstract idea without significantly more. The claims recite obtaining, calculating, and correcting. The claims are directed to one of the four statutory categories.
Step 2A, Prong One – Judicial Exception – Yes
claim(s) 1-15 and 21-25 are to be analyzed to determine whether it recites subject matter that falls within one of the following groups of abstract ideas: a) mathematical concepts, b) mental processes, and/or c) certain methods of organizing human activity.
The Office submits that the foregoing bolded limitation(s) constitutes judicial exception in terms of “mental processes” because under its broadest reasonable interpretation, the claim covers performance using mental processes.
The limitation of obtaining, calculating, and correcting covers performance of the limitation in the mind but for the recitation of generic computer components (i.e. processor and memory). That is, other than reciting generic computer components such as a processor and memory nothing in the claim element precludes the step from being performed in the mind. For example, one could use pen and paper to calculate a ZMP of a robot using obtained measurements. If a claim limitation, under its broadest reasonable interpretation, covers performance of the limitation in the mind but for the recitation of generic computer components, then it falls within the "2106.04(a)(2) Abstract Idea Groupings III. Mental Processes" grouping of abstract ideas. Accordingly, the claim(s) recites an abstract idea.
Step 2A, Prong Two – Practical Application – No
claim(s) 1-15 and 21-25 are evaluated whether as a whole it integrates the recited judicial exception into a practical application. As noted in the 2019 PEG, it must be determined whether any additional elements in the claim beyond the abstract idea integrate the exception into a practical application in a manner that imposes a meaningful limit on the judicial exception. The courts have indicated that additional elements merely using a computer to implement an abstract idea, adding insignificant extra solution activity, or generally linking use of a judicial exception to a particular technological environment or field of use do not integrate a judicial exception into a “practical application.”
In the present case, the additional limitations beyond the above-noted abstract idea are as follows (where the underlined portions are the “additional limitations” while the bolded portions continue to represent the “abstract idea”)
This judicial exception is not integrated into a practical application because the claim only recites additional element - using a processor and memory to perform obtaining, calculating, and correcting. The processor and memory in the steps is recited at a high-level of generality (i.e., as a generic processor performing a generic computer function of obtaining, calculating, and correcting) such that it amounts no more than mere instructions to apply the exception using a generic computer component. Accordingly, this additional element does not integrate the abstract idea into a practical application because it does not impose any meaningful limits on practicing the abstract idea. The claim is directed to an abstract idea.
Step 2B – Inventive Concept - No
As discussed with respect to Step 2A Prong Two, the additional elements in the claim amount to no more than mere instructions to apply the exception using a generic computer component. The same analysis applies here in 2B, i.e., mere instructions to apply an exception on a generic computer cannot integrate a judicial exception into a practical application at Step 2A or provide an inventive concept in Step 2B. Hence the claim is not patent eligible.
Response to Arguments
Applicants arguments filed 10/24/2025 have been fully considered as follows:
Applicant argues that the 35 USC 103 rejections to the claims should not be maintained in view of “Therefore, Dalibard fails to disclose or suggest or teach "calculating a desired zero moment point (ZMP) of the robot based on the planning capture point and the measured capture point;" in Claim 1.” This argument is persuasive. Therefore the rejection is not maintained. However, a new ground of rejection is above.
Conclusion
Any inquiry concerning this communication or earlier communications from the examiner should be directed to SARAH TRAN whose telephone number is (313)446-6642. The examiner can normally be reached 8am-5pm M-F.
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If attempts to reach the examiner by telephone are unsuccessful, the examiner’s supervisor, Khoi Tran can be reached at (571) 272-6919. The fax phone number for the organization where this application or proceeding is assigned is 571-273-8300.
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/S.A.T./Examiner, Art Unit 3656
/KHOI H TRAN/Supervisory Patent Examiner, Art Unit 3656