Robotically negotiating stairs
US11548151B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 12, 2019 |
| Grant date | Jan 10, 2023 |
| Priority date | — |
| Expiry date | Mar 19, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0891
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method for negotiating stairs includes receiving image data about a robot maneuvering in an environment with stairs. Here, the robot includes two or more legs. Prior to the robot traversing the stairs, for each stair, the method further includes determining a corresponding step region based on the received image data. The step region identifies a safe placement area on a corresponding stair for a distal end of a corresponding swing leg of the robot. Also prior to the robot traversing the stairs, the method includes shifting a weight distribution of the robot towards a front portion of the robot. When the robot traverses the stairs, the method further includes, for each stair, moving the distal end of the corresponding swing leg of the robot to a target step location where the target step location is within the corresponding step region of the stair.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.