Ground plane compensation for legged robots
US9561592B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | May 15, 2015 |
| Grant date | Feb 7, 2017 |
| Priority date | — |
| Expiry date | Oct 26, 2035 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/01
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) determining, for a particular topographical feature of the environment in a direction of travel of the robotic device, a height of the particular topographical feature and a distance between the robotic device and the particular topographical feature, (iii) estimating a ground plane extending from the robotic device in the direction of travel toward the particular topographical feature, the ground plane fitting to the determined distance and height, (iv) determining a grade of the estimated ground plane, and (v) directing the robotic device to adjust pitch in proportion to the determined grade.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.