1. Seongwoon Ko Kelton Stefan Jinliang Wei Ankith Cherala Patent Liability Analysis

2.  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.

3. Patent NumberDate GrantedTitle 7,119,510 B2Oct. 10, 2006Method 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 B2Nov. 16, 2010Systems and methods for controlling a legged robot using a two-phase disturbance response strategy Patent NumberDate GrantedTitle 2010/0161116 A1Jun. 24, 2010Robot and method of controlling balance thereof Pending patent applications

7.  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 two- phase 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.