Determination of robotic step path
US10081104B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Jan 23, 2017 |
| Grant date | Sep 25, 2018 |
| Priority date | — |
| Expiry date | Jan 29, 2037 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/46
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.