Determination of Robotic Step Path
First Claim
1. A method comprising:
- receiving, at a computing device, a reference step path comprising a reference capture point trajectory, the reference capture point trajectory comprising a set of spatial points on a surface that define respective target touchdown locations for feet of a robot;
generating, by the computing device, a plurality of potential step paths and a potential capture point trajectory for each of the plurality of potential step paths;
for each potential step path of the plurality of potential step paths, determining, by the computing device, an error value based on a difference between the reference capture point trajectory of the reference step path and a respective potential capture point trajectory;
selecting, by the computing device, a particular step path of the plurality of potential step paths with an error value that satisfies a threshold error value, the threshold error value indicating a satisfactory level of deviation between the reference capture point trajectory and the particular step path; and
instructing, by the computing device, movement of one of the feet of the robot toward a touchdown location of the particular step path.
4 Assignments
0 Petitions
Accused Products
Abstract
A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.
2 Citations
24 Claims
-
1. A method comprising:
-
receiving, at a computing device, a reference step path comprising a reference capture point trajectory, the reference capture point trajectory comprising a set of spatial points on a surface that define respective target touchdown locations for feet of a robot; generating, by the computing device, a plurality of potential step paths and a potential capture point trajectory for each of the plurality of potential step paths; for each potential step path of the plurality of potential step paths, determining, by the computing device, an error value based on a difference between the reference capture point trajectory of the reference step path and a respective potential capture point trajectory; selecting, by the computing device, a particular step path of the plurality of potential step paths with an error value that satisfies a threshold error value, the threshold error value indicating a satisfactory level of deviation between the reference capture point trajectory and the particular step path; and instructing, by the computing device, movement of one of the feet of the robot toward a touchdown location of the particular step path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
-
13. A robot comprising:
-
feet configured for movement with respect to a surface; and a control system in communication with the feet and configured to perform operations comprising; receiving a reference step path comprising a reference capture point trajectory, the reference capture point trajectory comprising a set of spatial points on a surface that define respective target touchdown locations for the feet; generating a plurality of potential step paths and a potential capture point trajectory for each of the plurality of potential step paths; for each potential step path of the plurality of potential step paths, determining an error value based on a difference between the reference capture point trajectory of the reference step path and a respective potential capture point trajectory; selecting a particular step path of the plurality of potential step paths with an error value that satisfies a threshold error value, the threshold error value indicating a satisfactory level of deviation between the reference capture point trajectory and the particular step path; and instructing movement of one of the feet of the robot toward a touchdown location of the particular step path. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
-
Specification