Yoshiaki Sakagami

US Patent:

8332068, Dec 11, 2012

Filed:

Nov 2, 2009

Appl. No.:

12/610865

Inventors:

Ambarish Goswami - Fremont CA,
Yoshiaki Sakagami - Cupertino CA,

Assignee:

Honda Motor Co., Ltd. - Tokyo

International Classification:

G06F 19/00

US Classification:

700245, 901 1

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.

US Patent:

8352077, Jan 8, 2013

Filed:

Nov 2, 2009

Appl. No.:

12/610872

Inventors:

Ambarish Goswami - Fremont CA,
Kangkang Yin - Beijing,
Yoshiaki Sakagami - Cupertino CA,

Assignee:

Honda Motor Co., Ltd. - Tokyo

International Classification:

G05B 19/402

US Classification:

700263, 180 81

Abstract:

A system and method is disclosed for controlling a robot that is falling down from an upright posture. Inertia shaping is performed on the robot to avoid an object during the fall. A desired overall toppling angular velocity of the robot is determined. The direction of this velocity is based on the direction from the center of pressure of the robot to the object. A desired composite rigid body inertia of the robot is determined based on the desired overall toppling angular velocity. A desired joint velocity of the robot is determined based on the desired composite rigid body inertia. The desired joint velocity is also determined based on a composite rigid body inertia Jacobian of the robot. An actuator at a joint of the robot is then controlled to implement the desired joint velocity.

US Patent:

8369991, Feb 5, 2013

Filed:

Dec 17, 2009

Appl. No.:

12/641163

Inventors:

Ambarish Goswami - Fremont CA,
Umashankar Nagarajan - Madurai,
Yoshiaki Sakagami - Cupertino CA,

Assignee:

Honda Motor Co., Ltd. - Tokyo

International Classification:

G05B 19/04
G05B 19/18

US Classification:

700253, 700245, 700258, 700260

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.

US Patent:

20110054870, Mar 3, 2011

Filed:

Sep 1, 2010

Appl. No.:

12/873498

Inventors:

Behzad Dariush - Sunnyvale CA,
Kikuo Fujimura - Palo Alto CA,
Yoshiaki Sakagami - Mountain View CA,

Assignee:

HONDA MOTOR CO., LTD. - Tokyo

International Classification:

G06G 7/48
H04N 13/02

US Classification:

703 11, 348 46, 348E13074

Abstract:

A system, method, and computer program product for providing a user with a virtual environment in which the user can perform guided activities and receive feedback are described. The user is provided with guidance to perform certain movements. The user's movements are captured in an image stream. The image stream is analyzed to estimate the user's movements, which is tracked by a user-specific human model. Biomechanical quantities such as center of pressure and muscle forces are calculated based on the tracked movements. Feedback such as the biomechanical quantities and differences between the guided movements and the captured actual movements are provided to the user.