www.uspto.gov
`
`UNITED STATES DEPARTMENT OF COMMERCE
`United States Patent and Trademark Office
`Address: COMMISSIONER FOR PATENTS
`P.O. Box 1450
`Alexandria, Virginia 22313-1450
`
`16/991,652
`
`08/12/2020
`
`Mayumi KOMATSU
`
`075192-0146
`
`8724
`
`Rimon PC - Pansonic Corporation
`8300 Greensboro Dr.
`Suite 500
`
`EVANS, KARSTON G
`
`3664
`
`12/07/2023
`
`ELECTRONIC
`
`Please find below and/or attached an Office communication concerning this application or proceeding.
`
`The time period for reply, if any, is set in the attached communication.
`
`Notice of the Office communication was sent electronically on above-indicated "Notification Date" to the
`following e-mail address(es):
`USPTOmail@rimonlaw.com
`
`PTOL-90A (Rev. 04/07)
`
`

`

`
`
`Disposition of Claims*
`1-10 is/are pending in the application.
`)
`Claim(s)
`5a) Of the above claim(s) _ is/are withdrawn from consideration.
`C} Claim(s)__ is/are allowed.
`Claim(s) 1-10 is/are rejected.
`(] Claim(s)__ is/are objectedto.
`C] Claim(s
`are subjectto restriction and/or election requirement
`)
`* If any claims have been determined allowable, you maybeeligible to benefit from the Patent Prosecution Highway program at a
`participating intellectual property office for the corresponding application. For more information, please see
`http://www.uspto.gov/patents/init_events/pph/index.jsp or send an inquiry to PPHfeedback@uspto.gov.
`
`) ) ) )
`
`Application Papers
`10)¥] The specification is objected to by the Examiner.
`11) The drawing(s)filed on 8/12/2020 is/are: a)(¥) accepted or b)() objected to by the Examiner.
`Applicant may not request that any objection to the drawing(s) be held in abeyance. See 37 CFR 1.85(a).
`Replacement drawing sheet(s) including the correction is required if the drawing(s) is objected to. See 37 CFR 1.121(d).
`
`Priority under 35 U.S.C. § 119
`12)(¥) Acknowledgment is made of a claim for foreign priority under 35 U.S.C. § 119(a)-(d)or (f).
`Certified copies:
`_—_c)L) None ofthe:
`b)L) Some**
`a)Y) All
`1.) Certified copies of the priority documents have been received.
`2.1.) Certified copies of the priority documents have been received in Application No. |
`3.2.) Copies of the certified copies of the priority documents have been receivedin this National Stage
`application from the International Bureau (PCT Rule 17.2(a)).
`*“ See the attached detailed Office action for a list of the certified copies not received.
`
`Attachment(s)
`
`1)
`
`Notice of References Cited (PTO-892)
`
`Information Disclosure Statement(s) (PTO/SB/08a and/or PTO/SB/08b)
`2)
`Paper No(s)/Mail Date
`U.S. Patent and Trademark Office
`
`3)
`
`4)
`
`(LJ Interview Summary (PTO-413)
`Paper No(s)/Mail Date
`(Qj Other:
`
`PTOL-326 (Rev. 11-13)
`
`Office Action Summary
`
`Part of Paper No./Mail Date 20231121
`
`Application No.
`Applicant(s)
`16/991 ,652
`KOMATSU et al.
`
`Office Action Summary Art Unit|AIA (FITF)StatusExaminer
`Karston G Evans
`3664
`Yes
`
`
`
`-- The MAILING DATEof this communication appears on the cover sheet with the correspondence address --
`Period for Reply
`
`A SHORTENED STATUTORYPERIOD FOR REPLYIS SET TO EXPIRE 3 MONTHS FROM THE MAILING
`DATE OF THIS COMMUNICATION.
`Extensionsof time may be available underthe provisions of 37 CFR 1.136(a). In no event, however, may a reply betimely filed after SIX (6) MONTHSfrom the mailing
`date of this communication.
`If NO period for reply is specified above, the maximum statutory period will apply and will expire SIX (6) MONTHSfrom the mailing date of this communication.
`-
`- Failure to reply within the set or extended period for reply will, by statute, cause the application to become ABANDONED (35 U.S.C. § 133).
`Any reply received by the Office later than three months after the mailing date of this communication, evenif timely filed, may reduce any earned patent term
`adjustment. See 37 CFR 1.704(b).
`
`Status
`
`1) Responsive to communication(s) filed on 8/12/2020.
`C} A declaration(s)/affidavit(s) under 37 CFR 1.130(b) was/werefiled on
`
`2a)() This action is FINAL. 2b)¥)This action is non-final.
`3) An election was madeby the applicant in responseto a restriction requirement set forth during the interview
`on
`; the restriction requirement and election have been incorporated into this action.
`4)(2) Since this application is in condition for allowance except for formal matters, prosecution as to the merits is
`closed in accordance with the practice under Exparte Quayle, 1935 C.D. 11, 453 O.G. 213.
`
`

`

`Application/Control Number: 16/991,652
`Art Unit: 3664
`
`Page 2
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`DETAILED ACTION
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`Notice of Pre-AlA 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.
`
`Receipt is acknowledged of certified copies of papers required by 37 CFR 1.55.
`
`Priority
`
`The disclosure is objected to because of the following informalities:
`
`Specification
`
`e
`
`The abstract exceeds 150 words. The abstract is generally limited to a single paragraph within
`
`the range of 50 to 150 words in length. See MPEP § 608.01(b) for guidelines for the preparation
`
`of patent abstracts.
`
`Appropriate correction is required.
`
`Claim Interpretation
`
`The following is a quotation of 35 U.S.C. 112(f):
`
`(f) Element in Claim for a Combination. — An element in a claim for a combination may be expressed as
`a means or step for performing a specified function without the recital of structure, material, or acts
`in support thereof, and such claim shall be construed to cover the corresponding structure, material,
`or acts described in the specification and equivalents thereof.
`
`The following is a quotation of pre-AlA 35 U.S.C. 112, sixth paragraph:
`
`An element in a claim for a combination may be expressed as a means or step for performing a
`specified function without the recital of structure, material, or acts in support thereof, and such claim
`shall be construed to cover the corresponding structure, material, or acts described in the
`specification and equivalents thereof.
`
`

`

`Application/Control Number: 16/991,652
`Art Unit: 3664
`
`Page 3
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`The claims in this application are given their broadest reasonable interpretation using the plain
`
`meaningof the claim languagein light of the specification as it would be understood by one of ordinary
`
`skill in the art. The broadest reasonable interpretation of a claim element (also commonly referred to as
`
`a Claim limitation) is limited by the description in the specification when 35 U.S.C. 112(f) or pre-AlA 35
`
`U.S.C. 112, sixth paragraph,is invoked.
`
`As explained in MPEP § 2181, subsection I, claim limitations that meet the following three-prong
`
`test will be interpreted under 35 U.S.C. 112(f) or pre-AIA 35 U.S.C. 112, sixth paragraph:
`
`(A)
`
`the claim limitation uses the term “means”or “step” or a term used as a substitute for “means”
`
`that is a generic placeholder(also called a nonce term or a non-structural term having no
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`specific structural meaning) for performing the claimed function;
`
`(B)
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`the term “means”or “step” or the generic placeholder is modified by functional language,
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`typically, but not always linked by the transition word “for” (e.g., “means for’) or another linking
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`word or phrase, such as “configured to” or “so that”; and
`
`(C)
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`the term “means”or “step” or the generic placeholder is not modified by sufficient structure,
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`material, or acts for performing the claimed function.
`
`Use of the word “means” (or “step”) in a claim with functional language creates a rebuttable
`
`presumption that the claim limitation is to be treated in accordance with 35 U.S.C. 112(f) or pre-AlA 35
`
`U.S.C. 112, sixth paragraph. The presumption that the claim limitation is interpreted under 35 U.S.C.
`
`112(f) or pre-AlA 35 U.S.C. 112, sixth paragraph, is rebutted when the claim limitation recites sufficient
`
`structure, material, or acts to entirely perform the recited function.
`
`Absence of the word “means”(or “step”) in a claim creates a rebuttable presumption that the
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`claim limitation is not to be treated in accordance with 35 U.S.C. 112(f) or pre-AlA 35 U.S.C. 112, sixth
`
`paragraph. The presumption that the claim limitation is not interpreted under 35 U.S.C. 112(f) or pre-
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`

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`Application/Control Number: 16/991,652
`Art Unit: 3664
`
`Page 4
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`AIA 35 U.S.C. 112, sixth paragraph, is rebutted when the claim limitation recites function without
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`reciting sufficient structure, material or acts to entirely perform the recited function.
`
`Claim limitations in this application that use the word “means” (or “step”) are being interpreted
`
`under 35 U.S.C. 112(f) or pre-AlA 35 U.S.C. 112, sixth paragraph, except as otherwise indicated in an
`
`Office action. Conversely, claim limitations in this application that do not use the word “means” (or
`
`“step”) are not being interpreted under 35 U.S.C. 112(f) or pre-AlA 35 U.S.C. 112, sixth paragraph,
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`except as otherwise indicated in an Office action.
`
`This application includes one or moreclaim limitations that do not use the word “means,” but
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`are nonetheless being interpreted under 35 U.S.C. 112(f) or pre-AlA 35 U.S.C. 112, sixth paragraph,
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`because the claim limitation(s) uses a generic placeholder that is coupled with functional language
`
`withoutreciting sufficient structure to perform the recited function and the generic placeholder is not
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`preceded bya structural modifier. Such claim limitation(s) is/are: “acquisition unit” in claims 1 and 6;
`
`“correction amountcalculation unit” in claims 1, 2, 4, 5, 6, 9, and 10; “correction unit” in claims 1 and
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`6; “drive unit” in claims 1 and 6; “speed detection unit” in claim 2; “traveling direction calculation
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`unit” in claim 2; “state sensor” in claim 6.
`
`Becausethis/these claim limitation(s) is/are being interpreted under 35 U.S.C. 112(f) or pre-AlA
`
`35 U.S.C. 112, sixth paragraph,it/they is/are being interpreted to cover the corresponding structure
`
`described in the specification as performing the claimed function, and equivalents thereof. The
`
`acquisition unit, correction amountcalculation unit, correction unit, drive unit, and traveling direction
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`calculation unit are configured by a microcontroller (“In FIG. 3, the target trajectory output unit 20 to
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`the correction unit 25 are each configured by a microcontroller.” [0037]). The drive unit also includes a
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`left and right motor (see claim 7). The speed detection unit is an encoder (“the encoder 15b is an
`
`example of a speed detection unit” [0033]). The state sensor includes a current sensor and an encoder
`
`(see [0020] andclaim 7).
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`

`

`Application/Control Number: 16/991,652
`Art Unit: 3664
`
`Page 5
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`If applicant does not intend to havethis/these limitation(s) interpreted under 35 U.S.C. 112(f) or
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`pre-AlA 35 U.S.C. 112, sixth paragraph, applicant may:
`
`(1) amend the claim limitation(s) to avoid it/them
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`being interpreted under 35 U.S.C. 112(f) or pre-AlA 35 U.S.C. 112, sixth paragraph (e.g., by reciting
`
`sufficient structure to perform the claimed function); or (2) present a sufficient showing that the claim
`
`limitation(s) recite(s) sufficient structure to perform the claimed function so as to avoid it/them being
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`interpreted under 35 U.S.C. 112(f) or pre-AlA 35 U.S.C. 112, sixth paragraph.
`
`Claim Rejections - 35 USC § 112
`
`The following is a quotation of 35 U.S.C. 112(b):
`(b) CONCLUSION.—The specification shall conclude with one or more claims particularly pointing out
`and distinctly claiming the subject matter which the inventor or a joint inventor regards as the
`invention.
`
`The following is a quotation of 35 U.S.C. 112 (pre-AlA), second paragraph:
`The specification shall conclude with one or more claims particularly pointing out and distinctly
`claiming the subject matter which the applicant regards as his invention.
`
`Claims 5-10 are rejected under 35 U.S.C. 112(b) or 35 U.S.C. 112 (pre-AlA), second paragraph, as
`
`being indefinite for failing to particularly point out and distinctly claim the subject matter which the
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`inventor or a joint inventor (or for applications subject to pre-AlA 35 U.S.C. 112, the applicant), regards
`
`as the invention.
`
`Claims 5 and 10 recite “the left correction amountis increased more than the right correction
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`amount, as the lateral force in a left direction with respect to a wheel shaft increases... the right
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`correction amountis increased to morethan the left correction amount, as the lateral force in a right
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`direction with respect to the wheel shaft increases.” The claim only mentions “a wheel shaft.”It is
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`unclear how the invention could operate with only a singular wheel shaft and also the lateral force
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`directions described are unclear because the location of the singular wheel shaft is unknown when there
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`are at least two wheels (left and right) but only a singular wheel shaft. The drawings of the robot show
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`

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`Application/Control Number: 16/991,652
`Art Unit: 3664
`
`Page 6
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`left and right wheels with respective motors 13a and 13b but do not show wherea singular wheel shaft
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`would be. However,for the purpose of compact prosecution the claims have been examined as best
`
`understood as rejected below.
`
`Claim 6 recites “a driven caster.” Typically, the adjective “driven” describes the wheel/caster as
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`operated, moved, or controlled by a source of power. However, the specification contradicts that the
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`caster is “driven” in the typical sense. Paragraph [0034] describes the driven caster: “The wheel 121 of
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`the caster 12 has no driving force and is passively rotated in accordance with moving speed of the main
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`body 10. The holder (notillustrated) of the caster 12 has no driving force and is passively turned in
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`accordance with turning of the main body 10.” Because of this contradiction, it is unclear how to
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`interpret the “driven caster.” For examination purposes, its interpreted that the “driven caster” is driven
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`in the sense that it moves by being pulled/pushed along passively when the robot moves. Claims 7-10
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`are also rejected because they do notresolve the deficiencies of claim 6.
`
`Claim Rejections - 35 USC § 103
`
`In the event the determination of the status of the application as subject to AIA 35 U.S.C. 102
`
`and 103 (or as subject to pre-AlA 35 U.S.C. 102 and 103) is incorrect, any correction of the statutory
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`basis (i.e., changing from AIA to pre-AlA) for the rejection will not be considered a new ground of
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`rejection if the prior art relied upon, and the rationale supporting the rejection, would be the same
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`under either status.
`
`The following is a quotation of 35 U.S.C. 103 which forms the basis for all obviousness rejections
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`set forth in this Office action:
`
`A patent for a claimed invention may not be obtained, notwithstanding that the claimed invention is
`not identically disclosed as set forth in section 102, if the differences between the claimed invention
`and the prior art are such that the claimed invention as a whole would have been obvious before the
`effective filing date of the claimed invention to a person having ordinaryskill in the art to which the
`claimed invention pertains. Patentability shall not be negated by the manner in which the invention
`was made.
`
`

`

`Application/Control Number: 16/991,652
`Art Unit: 3664
`
`Page 7
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`The factual inquiries for establishing a background for determining obviousness under 35 U.S.C.
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`103 are summarized as follows:
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`1. Determining the scope and contentsofthe prior art.
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`2. Ascertaining the differences between the prior art and the claims at issue.
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`3. Resolving the level of ordinary skill in the pertinent art.
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`4. Considering objective evidence present in the application indicating obviousness or
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`nonobviousness.
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`Claim(s) 1, 3, 4, and 5 is/are rejected under 35 U.S.C. 103 as being unpatentable over Dai (US
`
`20210401251 A1) in view of Kageyama (US 20150291210 A1).
`
`Regarding Claim 1,
`
`Dai teaches
`
`A self-propelled robot comprising: a main body; a left drive wheel and a right drive wheel that
`
`cause the main bodyto travel on a floor; (“A robot begins to linearly move on a carpet surface from an
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`initial position.” [0006]; “a base 4 of the mobile robotis configured to hold a left drive wheel 11 anda
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`right drive wheel 12 that control an advancing direction of the robot.” See at least [(0024])
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`@-ferece-sensorfer detecting a lateral force in a wheel axial direction of each of the left drive
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`wheel andthe right drive wheel when the main bodytravels straight; (“As shown in FIG. 3, whena
`
`robot 2 on the right moves to the arrow direction C, a drive wheel B of the robot 2 is pushedbya friction
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`force f21, the carpet fibers apply an outward acting force F21 to the drive wheel B of the robot 2, so that
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`the robot 2 deviates from the arrow direction C during the motion under a resultant force F22 of the
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`friction force f21 and the outward acting force F21.” see at least [0004] and fig. 3; “in conjunction with
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`the angle change measured by the gyroscope, the angle at which the robot deviates to the positive
`
`

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`Application/Control Number: 16/991,652
`Art Unit: 3664
`
`Page 8
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`direction of the Y-axis of the global coordinate system may be obtained, so that a resultant vector value
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`of the acting forces to the robot from the carpet is determined.” See at least [0060] and fig. 4; Examiner
`
`Interpretation: The inward/outward acting forces from the carpet are lateral forces in a wheel axial
`
`direction as shownwith the Y-axis in fig. 4. Determining the vector value from these forces is equivalent
`
`to detecting a lateral force.)
`
`an acquisition unit that acquires left target speed and right target speed, respectively, for the
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`left drive wheel andthe right drive wheel; (“Before the robot executes $501, the speed ofthe left drive
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`wheel of the robotis equal to that of the right drive wheel. Theoretically, if the robot wants to walk ina
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`straight line, control speeds output to the two drive wheels should be the same.” See at least [0029];
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`Examiner Interpretation: Equal speeds of the left and right drive wheels areinitially acquired as target
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`speeds to travel in a straightline.)
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`a correction amount calculation unit that calculates a left correction amountand a right
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`correction amountfor the left target speed and theright target speed, respectively, based on the
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`corresponding lateral forces detected-by-the-foree-sensor; a correction unit that corrects the left target
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`speed and the right target speed, respectively, based on the left correction amount andthe right
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`correction amount; and a drive unit that drives the left drive wheel and the right drive wheel,
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`respectively, based on the left target speed and the right target speed corrected by the correction unit.
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`(“when the drift average value y is a positive number,if the expected displacement direction of the
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`robot is determined to be the positive direction of the X-axis of the global coordinate system, it can be
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`determined that the current motion direction of the robot deviates to the positive direction of the Y-axis
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`of the global coordinate system. A method for synchronously adjusting the speed of the left and right
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`drive wheels of the robot includes: the speed V1 of the left drive wheel of the robot is controlled to plus
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`an absolute value y of the drift average value, the speed Vr of the right drive wheel of the robotis
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`controlled to minus an absolute value y of the drift average value, so that the speed ofthe left drive
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`

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`Application/Control Number: 16/991,652
`Art Unit: 3664
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`Page 9
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`wheel is greater than that of the right drive wheel, the robot turns to the negative direction of the Y-axis
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`of the global coordinate system, and the current motion direction of the robot gradually approaches the
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`preset direction.” See at least [0061]; Also see [0063] for controlling the robot based on the speed
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`adjustment using Pulse-Width Modulation (PWM) drive signals for motors and a PID control algorithm.)
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`Dai does not explicitly teach, but Kageyama teaches a@ force sensor for detecting a lateral force
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`(“hub lateral force sensors 25R and 25L which are lateral force detectors that detect hub lateral forces
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`Fy.sub.R and Fy.sub.L applied to respective hubsare providedin the right and left turning wheels 17FR
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`and 17FL.” See at least [0655]; Also see at least [0699] for detecting external lateral forces on the left
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`and right wheels from “a rutted road or a unilateral inclined road surface” for the purpose of controlling
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`the wheels to secure straight stable travel.)
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`It would have been obvious to a person having ordinaryskill in the art before the effectivefiling
`
`date of the invention to modify the teachings of Dai to further include the teachings of Kageyama with a
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`reasonable expectation of success. One of ordinary skill would have been motivated to combine Dai and
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`Kageyama to use left wheel and right wheel lateral force sensors to secure straightness stability when
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`traveling on an uneven or unstable surface (see at least [(0699]).
`
`Regarding Claim 3,
`
`Dai does not explicitly teach, but Kageyama teaches
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`wherein the force sensor has at least one axis of a detection direction.(“lateral force detectors
`
`that detect hub lateral forces Fy.sub.R and Fy.sub.L applied to respective hubs.” See at least [0655];
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`Examiner Interpretation: Forces are detected in the lateral direction, also called the y axis direction
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`(Fy.sub.R and Fy.sub.L).)
`
`

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`Application/Control Number: 16/991,652
`Art Unit: 3664
`
`Page 10
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`It would have been obvious to a person having ordinaryskill in the art before the effectivefiling
`
`date of the invention to modify the teachings of modified Dai to further include the teachings of
`
`Kageyama with a reasonable expectation of success. One of ordinary skill would have been motivated to
`
`combine modified Dai and Kageyama to use left wheel and right wheel lateral force sensors to secure
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`straightness stability when traveling on an uneven or unstable surface (see at least [(0699]).
`
`Regarding Claim 4,
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`Dai does not explicitly teach, but Kageyama teaches
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`wherein the correction amount calculation unit calculates the correction amount only when
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`the main bodyis traveling straight. (See at least fig. 45 (provided below) and [0672-0679] where the
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`correction method steps $412-S416 only occur if steering angle is zero/straight S404.)
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`

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`Application/Control Number: 16/991,652
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`Page 11
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`Art Unit: 3664
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` MeAlonennonen
`
`eewo
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`It would have been obvious to a person having ordinaryskill in the art before the effectivefiling
`
`date of the invention to modify the teachings of modified Dai to further include the teachings of
`
`Kageyama with a reasonable expectation of success. One of ordinary skill would have been motivated to
`
`combine modified Dai and Kageyama to only perform the straight correction/stabilizing behavior when
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`the vehicle is traveling straight to prevent inadvertently performing the straight correction/stabilizing
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`behavior when the vehicle should be turning (see at least [0679]).
`
`Regarding Claim 5,
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`Dai further teaches
`
`

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`Application/Control Number: 16/991,652
`Art Unit: 3664
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`Page 12
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`further comprising: a memory storing correction data (“A chip is configured to store a program.
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`The program is configured to control the robot to execute the control method,... If there is a deviation,
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`speeds of drive wheels of the robotis adjusted to drive the robot to return to the straight line.” See at
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`least [0064]; Examiner Interpretation: The chip includes a memory becauseit stores a program. The
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`program includes correction data becauseit includes data on how to adjust the drive speed of the robot
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`wheels. Paragraphs [0061-0062] further describes this correction data.)
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`wherein the correction amount calculation unit calculates the left correction amount and the
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`right correction amountby acquiring the left correction amountand the right correction amount
`
`correspondingto the lateral force detected from the correction data. (See at least [0060-0062] for
`
`calculating the correction amountfor adjusting the left and right drive wheel speeds corresponding to
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`the acting forces from the carpet that cause a drift value.)
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`Dai does not explicitly teach, but Kageyama teaches
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`correction data in which-the lateral force, and the left correction amount as well as the right
`
`correction amount, are associated with each otherso thatthe left correction amountis increased
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`morethan the right correction amount, as the lateral force in a left direction with respect to a wheel
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`shaft increases, and in which the lateral force, and the right correction amount as well as the left
`
`correction amount, are associated with each otherso that the right correction amountis increased to
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`morethan the left correction amount, as the lateral force in a right direction with respect to the wheel
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`shaft increases, (“if the hub lateral force Fy.sub.R on the right wheel is larger than the hub lateral force
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`Fy.sub.L on the left wheel (Fy.sub.R-Fy.sub.L>0) as the vehicle travels on a rutted road or a unilateral
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`inclined road surface, the procedure proceeds from step $413 to step $414 to perform the right wheel
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`brake control for generating a predetermined braking force with respect to the wheel cylinder 19 on the
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`right wheel side, to thereby make it possible to prevent occurrence of a turning force for causing the
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`

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`Application/Control Number: 16/991,652
`Art Unit: 3664
`
`Page 13
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`right wheel to serve as an outer turning wheel, thereby securing the straightnessstability. If the
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`relationship of Fy.sub.R-Fy.sub.L=0 is obtained by the right wheel brake control, the right wheel brake
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`control process is terminated, and the procedure returns to step S400 through steps $423 to $425.”
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`[0699]; “Contrarily, if the hub lateral force Fy.sub.L on the left wheel becomeslarger than the hub
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`lateral force Fy.sub.R on the right wheel (Fy.sub.R-Fy.sub.L<O), the procedure progresses to step $416
`
`through step $413 to step $415 to perform the left wheel brake control for generating a predetermined
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`braking force with respect to the wheel cylinder 19 on the left wheel side, to thereby make it possible to
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`prevent occurrence of a turning force for causing the left wheel to serve as an outer turning wheel,
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`thereby securing the straight stability.” [0700])
`
`It would have been obvious to a person having ordinary skill in the art before the effectivefiling
`
`date of the invention to modify the teachings of modified Dai to further include the teachings of
`
`Kageyama with a reasonable expectation of success. One of ordinary skill would have been motivated to
`
`combine modified Dai and Kageyama to securestraightness stability when traveling on an uneven or
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`unstable surface (see at least [0699]).
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`Claim(s) 2 is/are rejected under 35 U.S.C. 103 as being unpatentable over Dai (US 20210401251
`
`A1) in view of Kageyama (US 20150291210 A1) and Huang (US 20080172150 Al).
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`Regarding Claim 2,
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`Dai further teaches
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`further comprising: a speed detection unit that detects a left rotation speed and a right
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`rotation speedof the left drive wheel and the right drive wheel, respectively; (“Both theleft drive
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`wheel 11 and the right drive wheel 12 are provided with code disks configured to detect rotational
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`speeds of the corresponding wheels.” See at least [0024])
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`

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`Application/Control Number: 16/991,652
`Art Unit: 3664
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`Page 14
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`Dai does not explicitly teach
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`a traveling direction calculation unit that calculates a traveling direction of the main body
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`based on theleft rotation speed andthe right rotation speed,
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`wherein the correction amount calculation unit calculates the left correction amount and the
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`right correction amount only when the traveling direction calculated by the traveling direction
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`calculation unit satisfies a predetermined condition indicating that the main bodyis traveling straight.
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`However, Kageyama teaches
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`wherein the correction amount calculation unit calculates the left correction amount and the
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`right correction amount only when the traveling direction calculated by the traveling direction
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`calculation unit satisfies a predetermined condition indicating that the main bodyis traveling straight.
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`(See at least fig. 45 (provided below) and [0672-0679] where the correction method steps S412-S416
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`only occur if steering angle is zero/straight S404.)
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`

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`Page 15
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`Application/Control Number: 16/991,652
`Art Unit: 3664
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`AUEEEBEEEEEELEELE:
`
`ee
`=
`ere
`een
`
`It would have been obvious to a person having ordinaryskill in the art before the effectivefiling
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`date of the invention to modify the teachings of modified Dai to further include the teachings of
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`Kageyama with a reasonable expectation of success. One of ordinary skill would have been motivated to
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`combine modified Dai and Kageyama to only perform the straight correction/stabilizing behavior when
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`the vehicle is traveling straight to prevent inadvertently performing the straight correction/stabilizing
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`behavior when the vehicle should be turning (see at least [0679]).
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`Kageyama also does not explicitly teach, but Huang teaches
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`and a traveling direction calculation unit that calculates a traveling direction of the main body
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`based ontheleft rotation speed and theright rotation speed, (“The moving apparatus 101 further
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`

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`Application/Control Number: 16/991,652
`Art Unit: 3664
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`Page 16
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`includes a pair of encoders 150 installed on the body 110 and coupled to the control unit 130, for
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`measuring a speed of the pair of the wheels 120 respectively and transmitting information of the speed
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`to the control unit 130, such that the control unit 130 obtains a second direction variation of the body
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`110 according to information of the speed, such as the rotating speed difference of the pair of the
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`wheels 120.” See at least [0024]; Also see Step S50 ([0036] and fig. 4) for obtaining the current direction
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`of the robot body according to information of the speed provided by the pair of the encoders.)
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`It would have been obvious to a person having ordinaryskill in the art before the effectivefiling
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`date of the invention to modify the teachings of modified Dai and Kageyama to further include the
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`teachings of Huang with a reasonable expectation of success because the difference in speed of the
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`wheel encodersprovides an accurate and reliable navigation direction and can be relied upon when
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`another direction measuring unit is dysfunctional (See at least [0042]).
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`Claim(s) 6 and 8 is/are rejected under 35 U.S.C. 103 as being unpatentable over Dai (US
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`20210401251 A1) in view of Asano (US 20050247510 A1) and Sun (US 20170315560 A1).
`
`Regarding Claim 6,
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`A self-propelled robot comprising: a main body; a left drive wheel and a right drive wheel that
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`cause the main bodyto travel on a floor; (“A robot begins to linearly move on a carpet surface from an
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`initial position.” [0006]; “a base 4 of the mobile robot is configured to hold a left drive wheel 11 anda
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`right drive wheel 12 that control an advancing direction of the robot.” See at least [(0024])
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`an angle sensor that detects a turning angle efthe-drivern-caster-with-+respect-tothe-main
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`body; (“The rotation angle 61 of the robot can be sensed by the gyroscope3.” See at least [0035])
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`

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`Application/Control Number: 16/991,652
`Art Unit: 3664
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`Page 17
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`a state sensor that detects a state of each of the left drive wheel and the right drive wheel;
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`(“Both the left drive wheel 11 and the right drive wheel 12 are provided with code disks configured to
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`detect rotational speeds of the corresponding wheels.” See at least [0024])
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`an acquisition unit that acquires a left target speed and a right target speed of the left drive
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`wheel andthe right drive wheel, respectively; (“Before the robot executes $501, the speed ofthe left
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`drive wheel of the robot is equal to that of the right drive wheel. Theoretically, if the robot wants to
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`walk in a straight line, control speeds output to the two drive wheels should be the same.” See at least
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`[0029]; Examiner Interpretation: Equal speeds of the left and right drive wheels areinitially acquired as
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`target speeds to travel in a straightline.)
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`a lateral force estimation unit that estimates a lateral force in a wheel axial direction of the
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`left drive wheel and the right drive wheel, acting on the left drive wheel and the right drive wheel,
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`based on the turning angle detected by the angle sensor andtheteft-disturbance-andthetight
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`
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`disturbance-estimated-_bythe-disturbance-estimation-uni; (“As shown in FIG. 3, when a robot 2 on the
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`right movesto the arrow direction C, a drive wheel B of the robot 2 is pushed bya friction force f21, the
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`carpet fibers apply an outward acting force F21 to the drive wheel B of the robot 2, so that the robot 2
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`deviates from the arrow direction C during the motion under a resultant force F22 of the friction force
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`f21 and the outward acting force F21.” see at least [0004] and fig. 3; “in conjunction with the angle
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`change measured by the gyroscope, the angle at which the robot deviates to the positive direction of
`
`t