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:
Dec. 11, 2012
Filed:
Nov. 02, 2009
Ambarish Goswami, Fremont, CA (US);
Seung-kook Yun, Cambridge, MA (US);
Yoshiaki Sakagami, Cupertino, CA (US);
Ambarish Goswami, Fremont, CA (US);
Seung-kook Yun, Cambridge, MA (US);
Yoshiaki Sakagami, Cupertino, CA (US);
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
A system and method is disclosed for controlling a robot having at least two legs that is falling down from an upright posture. An allowable stepping zone where the robot is able to step while falling is determined. The allowable stepping zone may be determined based on leg Jacobians of the robot and maximum joint velocities of the robot. A stepping location within the allowable stepping zone for avoiding an object is determined. The determined stepping location maximizes an avoidance angle comprising an angle formed by the object to be avoided, a center of pressure of the robot upon stepping to the stepping location, and a reference point of the robot upon stepping to the stepping location. The reference point, which may be a capture point of the robot, indicates the direction of fall of the robot. The robot is controlled to take a step toward the stepping location.
Data source: USPTO (United States Patent and Trademark Office) public patent records. Weekly synchronization. How IDiyas builds this profile