Leg collision avoidance in a robotic device
US9446518B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Nov 11, 2014 |
| Grant date | Sep 20, 2016 |
| Priority date | — |
| Expiry date | Feb 11, 2035 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/28
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An example implementation for avoiding leg collisions may involve a biped robot reducing a three-dimensional system to a two-dimensional projection of the biped robot's feet. An example biped robot may determine a touchdown location for a swing foot. The biped robot may determine lateral positions of the touchdown location and the swing foot, each relative to a stance foot. Based on one or more of the determined lateral positions of the touchdown location and the swing foot, each relative to the stance foot, the biped robot may determine an intermediate swing point for the swing foot that is not on a line defined by the swing foot and the touchdown location. The biped robot may further cause the swing foot to move to the intermediate swing point, and then cause the swing foot to move to the touchdown location.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.