Patents by Inventor Fabian Canas

Fabian Canas 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).

  • Learning capture points for humanoid push recovery
    Patent number: 8195332
    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.
    Type: Grant
    Filed: November 19, 2008
    Date of Patent: June 5, 2012
    Assignees: Honda Motor Co., Ltd., Florida Institute for Human & Machine Cognition, Inc. (IHMC)
    Inventors: Jerry Pratt, Ambarish Goswami, John Rebula, Fabian Canas
  • Learning Capture Points for Humanoid Push Recovery
    Publication number: 20090132087
    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.
    Type: Application
    Filed: November 19, 2008
    Publication date: May 21, 2009
    Applicants: HONDA MOTOR CO. LTD, Florida Institute for Human & Machine Cognition, Inc.
    Inventors: Jerry Pratt, Ambarish Goswami, John Rebula, Fabian Canas