Certain principles of biomorphic robots including foot placement selection using non-geometric visual properties
First Claim
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1. A mobile apparatus comprising:
- at least one first sensor for detecting an obstacle in at least the mobility path of said mobile apparatus and providing first data,at least one second sensor for determining the stability of said mobile apparatus and providing second data,at least one active joint, andan algorithm for integrating perception in accordance with at least one of said first data and said second data with action of said joint in performing a cyclic stride and/or adjustment of said cyclic stride to avoid an obstacle.
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Abstract
Robots and other mobile apparatus, especially robotic bipeds, that exhibit agile capabilities can become easily destabilized by obstacles or particular surfaces. An algorithm for controlling the movement of a robot based on visual cues and learning processes will help to avoid destabilization and movement interruption by altering the gait measurement. As such, when the robot predicts that an obstacle is upcoming, it can make adjustments by either increasing or decreasing stride so that a smooth transition can be made in bypassing the obstacle.
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Citations
20 Claims
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1. A mobile apparatus comprising:
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at least one first sensor for detecting an obstacle in at least the mobility path of said mobile apparatus and providing first data, at least one second sensor for determining the stability of said mobile apparatus and providing second data, at least one active joint, and an algorithm for integrating perception in accordance with at least one of said first data and said second data with action of said joint in performing a cyclic stride and/or adjustment of said cyclic stride to avoid an obstacle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for determining gait adjustments in a mobile apparatus thereby allowing said mobile apparatus to bypass an obstacle including;
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receiving raw visual data, determining what data within said raw data set is novel based on predictions, determining if an obstacle is in the mobility path of said mobile apparatus by associating past patterns recorded by said mobile apparatus with past reflexes of said mobile apparatus using a sensorimotor map, sending determined information to a central pattern generator (CPG) to calculate and dictate motor commands and resultant movement of said mobile apparatus, sending an error signal back to the sensorimotor map in the event that instability is detected by sensors on said mobile apparatus as a result of an obstacle, and learning to associate visual data with emerging obstacles in response to data acquired by at least one first sensor and at least one second sensor. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification