Terrain aware step planning system
US12235652B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 24, 2022 |
| Grant date | Feb 25, 2025 |
| Priority date | — |
| Expiry date | Feb 24, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30241
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method for terrain and constraint planning a step plan includes receiving, at data processing hardware of a robot, image data of an environment about the robot from at least one image sensor. The robot includes a body and legs. The method also includes generating, by the data processing hardware, a body-obstacle map, a ground height map, and a step-obstacle map based on the image data and generating, by the data processing hardware, a body path for movement of the body of the robot while maneuvering in the environment based on the body-obstacle map. The method also includes generating, by the data processing hardware, a step path for the legs of the robot while maneuvering in the environment based on the body path, the body-obstacle map, the ground height map, and the step-obstacle map.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.