Abstract: A visual display for use by a user for navigation and obstacle avoidance. A typical user employs the invention in operating a vehicle. The display may include a conventional video feed. A visual arch metaphor is also provided. A ranging device mounted on the vehicle collects ranging data around the vehicle. As an example, the ranging device might collect 180 degrees of ranging data extending from the vehicle's left side, across the vehicle's front, and over to the vehicle's right side. The ranging data is correlated to a predefined color scale. The ranging data is also correlated to a position on the arch metaphor.

Abstract: An SMS-based human/computer interface that may be applied to a wide variety of tasks. The interface allows a human user to interact with a computer system using SMS messages. The user sends messages to the computer system and receives messages from the computer system in a format that would normally be used for interacting with a human acquaintance. The computer system includes a natural language processor with an associated lexicon of conventional language (such as English words) and SMS-unique language. The language processor determines the user's meaning and the system then generates responses that are appropriate within the present context The computer system includes the ability to bring in a human operator when conditions warrant such an intervention.

Abstract: An apparatus and a method for robotic control that allows an unbalanced pendulum robot to raise its Center of Mass and balance on two motorized wheels. The robot includes a pair of arms that are connected to the upper body of the robot through motorized joints. The method consists of a series of movements employing the arms of the robot to raise the robot to the upright position. The method comprises a control loop in which the motorized drives are included for dynamic balance of the robot and the control of the arm apparatus. The robot is first configured as a low Center of Mass four-wheeled vehicle, then its Center of Mass is raised using a combination of its wheels and the joint located at the attachment point of the arm apparatus and the robot body, between the rear and front wheels; the method then applies accelerations to the rear wheels to dynamically pivot and further raise the Center of Mass up and over the main drive wheels bringing the robot into a balancing pendulum configuration.

Abstract: A robotic limb structure which is capable of achieving high speeds. In the context of a biped, the structure is used for a pair of hind limbs. The limb structure includes a primary driven link—such as a thigh pivoting about a hip joint in the case of a hind limb. Secondary links are pivotally connected to the primary driving link. Auxiliary links are provided to constrain the motion between the links. Elastic trim elements are also provided to define a “relaxed” state for the limb and to influence the resonance characteristics of the structure. The control system takes advantage of the resonant characteristics of the structure as a whole.

Abstract: An integrated flight instrument which provides unambiguous information regarding the motion of a hovering aircraft. The instrument accurately depicts motion in six degrees of freedom (roll, pitch, yaw, forward translation, lateral translation, and vertical translation), as well as aircraft power requirements and utilization.

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.

Abstract: A system which allows a user to teach a computational device how to perform complex, repetitive tasks that the user usually would perform using the device's graphical user interface (GUI) often but not limited to being a web browser. The system includes software running on a user's computational device. The user “teaches” task steps by inputting natural language and demonstrating actions with the GUI. The system uses a semantic ontology and natural language processing to create an explicit representation of the task that is stored on the computer. After a complete task has been taught, the system is able to automatically execute the task in new situations. Because the task is represented in terms of the ontology and user's intentions, the system is able to adapt to changes in the computer code while still pursuing the objectives taught by the user.

Abstract: A legged robot subjected to a force is controlled by determining an instantaneous capture point where the robot will step with a swing leg to reach a balanced home position, the balanced home position being a state in which the Center of Mass remains substantially over the Center of Pressure and the robot is able to maintain its balance indefinitely. The capture point can be determined using a Linear Inverted Pendulum Plus Flywheel (LIPPF) model of the robot. The LIPPF model includes a flywheel with a mass and a rotational inertia, and a variable length leg link. A torque profile is applied to the flywheel and a set of capture points is determined based on this torque profile An experimentally determined error value can be added to a capture point that is determined based on the model to account for differences between an actual robot and the model.

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.