Yaw slip handling in a robotic device
US10226870B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 6, 2017 |
| Grant date | Mar 12, 2019 |
| Priority date | — |
| Expiry date | Mar 6, 2037 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/01
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An example method may include determining a requested yaw for a body of a robot, where the biped robot comprises a foot coupled to the body via a leg. The robot may then detect, via one or more sensors, a yaw rotation of the body with respect to a ground surface, where the foot is in contact with the ground surface. Based on the detected yaw rotation of the body, the robot may determine a measured yaw for the body. The robot may also determine a target yaw for the body, where the target yaw for the body is between the measured yaw for the body and the requested yaw for the body. The robot may then cause the foot to rotate the body to the target yaw for the body.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.