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Mitigating sensor noise in legged robots

  • US 10,583,879 B1
  • Filed: 09/25/2017
  • Issued: 03/10/2020
  • Est. Priority Date: 03/22/2016
  • Status: Active Grant
First Claim
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1. A method comprising:

  • receiving, at a control system of a legged robot, an indication indicating an occurrence of a foot of the legged robot making contact with a surface;

    in response to the indication, reducing a gain value of an amplifier of the control system from a nominal value to a reduced value, wherein the amplifier provides a modulated output based on the gain value;

    over a predetermined duration of time after the indication, increasing the gain value from the reduced value to the nominal value, wherein the gain value is increased according to a profile indicative of a manner in which to increase the gain value over the predetermined duration of time; and

    during the predetermined duration of time, controlling at least one actuator of the legged robot based on the modulated output.

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