Control of robotic devices with non-constant body pitch
US10059392B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 27, 2016 |
| Grant date | Aug 28, 2018 |
| Priority date | — |
| Expiry date | Jan 26, 2037 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/1664
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.