The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 14, 2026
Filed:
Feb. 05, 2024
Sanctuary Cognitive Systems Corporation, Vancouver, CA;
Peyman Karimi Eskandary, Coquitlam, CA;
Alejandro Hernandez Herdocia, Vancouver, CA;
Sanctuary Cognitive Systems Corporation, Vancouver, CA;
Abstract
A method of controlling an actuator having a maximum velocity and a maximum acceleration includes accessing a reference trajectory signal comprising temporally-spaced reference positions for the actuator and accessing a trajectory template having at least a third derivative continuity and at least one characteristic constrained by the maximum velocity and the maximum acceleration. The method includes generating a smooth reference trajectory signal based on the reference trajectory signal and the trajectory template and outputting the smooth reference trajectory signal. Controls for the actuator can be generated based on the smooth reference trajectory signal.