Handling gait disturbances with asynchronous timing
US9789611B1 · kind B1 · utility
10Cited by
22References
20Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jun 22, 2016 |
| Grant date | Oct 17, 2017 |
| Priority date | — |
| Expiry date | Jun 22, 2036 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/49
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.