Handling gait disturbances with asynchronous timing

US11654569B2 · kind B2 · utility

Assignee

• Boston Dynamics, Inc. · US

Inventors

• Kevin Blankespoor · Arlington, US
• Benjamin Stephens · Cambridge, US
• Marco da Silva · Arlington, US

Key dates

• Filing date: Dec 22, 2020
• Grant date: May 23, 2023
• Expiry date: Apr 6, 2041

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/49
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.