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:
Feb. 05, 2013
Filed:
Dec. 17, 2009
Ambarish Goswami, Fremont, CA (US);
Umashankar Nagarajan, Madurai, IN;
Yoshiaki Sakagami, Cupertino, CA (US);
Ambarish Goswami, Fremont, CA (US);
Umashankar Nagarajan, Madurai, IN;
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, the robot falling down from an upright posture and the robot located near a plurality of surrounding objects. A plurality of predicted fall directions of the robot are determined, where each predicted fall direction is associated with a foot placement strategy, such as taking a step, for avoiding the surrounding objects. The degree to which each predicted fall direction avoids the surrounding objects is determined. A best strategy is selected from the various foot placement strategies based on the degree to which the associated fall direction avoids the surrounding objects. The robot is controlled to implement this best strategy.