Methods and systems for planning a body position of a robotic device
US9975245B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Dec 19, 2017 |
| Grant date | May 22, 2018 |
| Priority date | — |
| Expiry date | Dec 19, 2037 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/47
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Example methods and systems for planning a body position for a robotic device are described. An example method includes receiving a reference step path that defines predetermined step locations for end components of a robotic device. The method also includes receiving a set of constraints, receiving a predetermined height and pitch, and assigning a cost to each of a height of the body, a height acceleration of the body, and a pitch acceleration of the body. The method also includes determining a new height and a new pitch of the body that reduces the height acceleration and the pitch acceleration of the body when the end component moves along the reference step path. Further, the method includes instructing the robotic device to actuate the plurality of appendages to achieve the new height and the new pitch of the body when the end component moves along the reference step path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.