Patents by Inventor Vinutha Kallem

Vinutha Kallem has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Systems and Methods for Controlling a Legged Robot Based on Rate of Change of Angular Momentum
    Publication number: 20120035762
    Abstract: Systems and methods are presented that use the rate of change of a legged robot's centroidal angular momentum ({dot over (H)}G) in order to maintain or improve the robot's balance. In one embodiment, a control system determines the current value of {dot over (H)}G, compares this value to a threshold value, and determines an instruction to send to the robot. Executing the instruction causes the robot to remain stable or become more stable. Systems and methods are also presented that use a value derived from {dot over (H)}G in order to maintain or improve the robot's balance. In one embodiment, a control system determines the location of the Zero Rate of change of Angular Momentum (ZRAM) point (A), determines the distance between A and the location of the center of pressure of the resultant ground force, compares this value to a threshold value, and determines an instruction to send to the robot.
    Type: Application
    Filed: October 14, 2011
    Publication date: February 9, 2012
    Applicant: HONDA MOTOR CO., LTD.
    Inventors: Ambarish Goswami, Vinutha Kallem
  • Systems and methods for controlling a legged robot based on rate of change of angular momentum
    Patent number: 8060253
    Abstract: Systems and methods are presented that use the rate of change of a legged robot's centroidal angular momentum ({dot over (H)}G) in order to maintain or improve the robot's balance. In one embodiment, a control system determines the current value of {dot over (H)}G, compares this value to a threshold value, and determines an instruction to send to the robot. Executing the instruction causes the robot to remain stable or become more stable. Systems and methods are also presented that use a value derived from {dot over (H)}G in order to maintain or improve the robot's balance. In one embodiment, a control system determines the location of the Zero Rate of change of Angular Momentum (ZRAM) point (A), determines the distance between A and the location of the center of pressure of the resultant ground force, compares this value to a threshold value, and determines an instruction to send to the robot.
    Type: Grant
    Filed: March 31, 2005
    Date of Patent: November 15, 2011
    Assignee: Honda Motor Co., Ltd.
    Inventors: Ambarish Goswami, Vinutha Kallem
  • Systems and methods for controlling a legged robot based on rate of change of angular momentum
    Publication number: 20050234593
    Abstract: Systems and methods are presented that use the rate of change of a legged robot's centroidal angular momentum ({dot over (H)}G) in order to maintain or improve the robot's balance. In one embodiment, a control system determines the current value of {dot over (H)}G, compares this value to a threshold value, and determines an instruction to send to the robot. Executing the instruction causes the robot to remain stable or become more stable. Systems and methods are also presented that use a value derived from {dot over (H)}G in order to maintain or improve the robot's balance. In one embodiment, a control system determines the location of the Zero Rate of change of Angular Momentum (ZRAM) point (A), determines the distance between A and the location of the center of pressure of the resultant ground force, compares this value to a threshold value, and determines an instruction to send to the robot.
    Type: Application
    Filed: March 31, 2005
    Publication date: October 20, 2005
    Inventors: Ambarish Goswami, Vinutha Kallem