Method to improve walking performance of quadrupeds over soft surfaces
US12350837B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 7, 2023 |
| Grant date | Jul 8, 2025 |
| Priority date | — |
| Expiry date | Nov 14, 2043 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J13/08
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present invention pertains to a method for a quadruped robot to navigate through granular media, such as deep sand and for providing improvements in the walking performance over various types of granular media. In particular, the present invention proposes reducing the assumed coefficient of friction about the ground, impacting the ground harder than nominal in the vertical direction at touchdown, and forcing a toe lift off into swing if a knee joint extends beyond a threshold stance to help increase the robustness of a quadruped robot's locomotive abilities on challenging terrains and provide an improvement in the field of biomechanics and robotic navigation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.