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HUMANOID ROBOT PUSH RECOVERY ON LEVEL AND NON-LEVEL GROUND

  • US 20120245734A1
  • Filed: 03/20/2012
  • Published: 09/27/2012
  • Est. Priority Date: 03/21/2011
  • Status: Active Grant
First Claim
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1. A computer-implemented method for controlling a humanoid robot in response to an external disturbance, the method comprising:

  • receiving, by a robot controller, state information of a humanoid robot;

    determining, by the robot controller, a predicted stepping location of the robot based on the state information of the humanoid robot, the predicted stepping location comprising a location such that the humanoid robot will maintain balance if it steps to the predicted stepping location;

    responsive to the predicted stepping location falling within a predefined region, controlling the robot to make a postural change without stepping to maintain balance in response to the external disturbance; and

    responsive to the predicted stepping location falling outside the predefined region, controlling the robot to take a step to the predicted stepping location to maintain balance in response to the external disturbance.

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