Footstep contact detection

US11383381B2 · kind B2 · utility

Assignee

• Boston Dynamics, Inc. · US

Inventors

• Eric Whitman · Waltham, US
• Alex Khripin · Cambridge, US

Key dates

• Filing date: Sep 17, 2019
• Grant date: Jul 12, 2022
• Expiry date: Jul 13, 2040

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40599
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method of footstep contact detection includes receiving joint dynamics for a swing leg of the robot where the swing leg performs a swing phase of a gait of the robot. The method also includes receiving odometry defining an estimation of a pose of the robot and determining whether an unexpected torque on the swing leg corresponds to an impact on the swing leg. When the unexpected torque corresponds to the impact, the method further includes determining whether the impact is indicative of a touchdown of the swing leg on a ground surface based on the odometry and the joint dynamics. When the impact is not indicative of the touchdown of the swing leg, the method includes classifying a cause of the impact based on the odometry of the robot and the joint dynamics of the swing leg.