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:
Jun. 05, 2012
Filed:
Nov. 19, 2008
Jerry Pratt, Pensacola, FL (US);
Ambarish Goswami, Fremont, CA (US);
John Rebula, Ann Arbor, MI (US);
Fabian Canas, Boulder, CO (US);
Jerry Pratt, Pensacola, FL (US);
Ambarish Goswami, Fremont, CA (US);
John Rebula, Ann Arbor, MI (US);
Fabian Canas, Boulder, CO (US);
Honda Motor Co., Ltd., Tokyo, JP;
Florida Institute for Human & Machine Cognition, Inc. (IHMC), Pensacola, FL (US);
Abstract
A system and method is disclosed for controlling a robot having at least two legs, the robot subjected to an event such as a push that requires the robot to take a step to prevent a fall. In one embodiment, a current capture point is determined, where the current capture point indicates a location on a ground surface that is the current best estimate of a stepping location for avoiding a fall and for reaching a stopped state. The robot is controlled to take a step toward the current capture point. After taking the step, if the robot fails to reach a stopped state without taking any additional steps, an updated current capture point is determined based on the state of the robot after taking the step. The current capture points can be stored in a capture point memory and initialized based on a model of the robot.