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• 15 United States
• 10 France
• 8 Japan
• 7 China
• 5 Korea
• 2 Other

Patent Owner(s)

• CANON KABUSHIKI KAISHA

International Classification(s)

• B25J:MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION ....

• [Classification Symbol]

• [Patents Count]

Inventor(s)

Inventor Name	Address	# of filed Patents	Total Citations
Takagi, Kiyoshi	Tokyo, JP	65	536

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Maintenance Fees

Fee	Large entity fee	small entity fee	micro entity fee	due date
11.5 Year Payment	$7400.00	$3700.00	$1850.00	Aug 17, 2026

Fee	Large entity fee	small entity fee	micro entity fee
Surcharge - 11.5 year - Late payment within 6 months	$160.00	$80.00	$40.00
Surcharge after expiration - Late payment is unavoidable	$700.00	$350.00	$175.00
Surcharge after expiration - Late payment is unintentional	$1,640.00	$820.00	$410.00

DATE PUBLISHED	PUBLICATION/PATENT NO.	PUBLICATION TYPE
February 17, 2015	US,8958915,B2   US8958915B2	GRANTED PATENT AS SECOND PUBLICATION
March 22, 2012	US,20120072026,A1   US20120072026A1	FIRST PUBLISHED PATENT APPLICATION

Full Text

US Patent No: 8958915

Robot system controlling method, robot system, and control apparatus for quadrupedal robot

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