Mechanically-timed footsteps for a robotic device
US10246151B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Oct 21, 2016 |
| Grant date | Apr 2, 2019 |
| Priority date | — |
| Expiry date | Apr 8, 2037 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/01
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, cause the second foot to contact the ground surface.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.