Methods and devices for bound and gallop gaits
US9395726B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 17, 2014 |
| Grant date | Jul 19, 2016 |
| Priority date | — |
| Expiry date | Dec 17, 2034 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/01
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Examples for implementing bound and gallop gaits are described herein. A computing system may receive an input for a robotic device to perform a gallop gait or a bound gait. Responsive to receiving the input, the computing system may determine a state of the robotic device based on sensor data monitoring the robotic legs. A sagittal controller of the robotic device may determine vertical impulses and target locations for controlling the legs during the gallop gait based on a pitch, a height, and a velocity of the robotic device. One or more continuous controllers may determine adjustments for controlling the legs based on a roll, a yaw, and/or lateral motions of the robotic device that may result from the robotic device traveling at the velocity and direction as specified in the input. Further, to perform the gait, the controllers may provide instructions to control the legs.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.