Learning capture points for humanoid push recovery
First Claim
1. A method for controlling a robot having at least two legs, the robot subjected to an event that initiates a fall of the robot, the method comprising:
- determining a first state of the robot following the event that initiates the fall;
determining, by at least one processor, a current capture point based on the first state of the robot following the event that initiates the fall, the current capture point indicating a location on a ground surface;
controlling the robot to take a capture step toward the current capture point; and
responsive to the robot failing to reach a stopped state and continuing the fall after taking the capture step, determining a second state of the robot during the fall and determining an updated current capture point based on the second state of the robot during the fall after taking the capture step.
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Accused Products
Abstract
A system and method is disclosed for controlling a robot having at least two legs, the robot subjected to an event such as a push that requires the robot to take a step to prevent a fall. In one embodiment, a current capture point is determined, where the current capture point indicates a location on a ground surface that is the current best estimate of a stepping location for avoiding a fall and for reaching a stopped state. The robot is controlled to take a step toward the current capture point. After taking the step, if the robot fails to reach a stopped state without taking any additional steps, an updated current capture point is determined based on the state of the robot after taking the step. The current capture points can be stored in a capture point memory and initialized based on a model of the robot.
46 Citations
20 Claims
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1. A method for controlling a robot having at least two legs, the robot subjected to an event that initiates a fall of the robot, the method comprising:
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determining a first state of the robot following the event that initiates the fall; determining, by at least one processor, a current capture point based on the first state of the robot following the event that initiates the fall, the current capture point indicating a location on a ground surface; controlling the robot to take a capture step toward the current capture point; and responsive to the robot failing to reach a stopped state and continuing the fall after taking the capture step, determining a second state of the robot during the fall and determining an updated current capture point based on the second state of the robot during the fall after taking the capture step. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for controlling a robot having at least two legs, the robot subjected to an event that requires the robot to take a step to prevent a fall, the system comprising:
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a computer-readable storage medium storing executable computer program modules configured for; determining a first state of the robot following the event that initiates the fall; determining a current capture point based on the first state of the robot following the event that initiate the fall, the current capture point indicating a location on a ground surface; controlling the robot to take a capture step toward the current capture point; and responsive to the robot failing to reach a stopped state and continuing the fall after taking the capture step, determining a second state of the robot during the fall and determining an updated current capture point based on the second state of the robot after taking the capture step. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification