Intelligent stepping for humanoid fall direction change
First Claim
1. A method for controlling a robot having at least two legs, the robot falling down from an upright posture, the method performed by a computer system, and the method comprising:
- determining, by the computer system, a stepping location on a ground surface for the robot to step to in order to avoid hitting an object while falling, comprising;
determining an allowable stepping zone where the robot is able to step while falling; and
determining the stepping location within the allowable stepping zone, the stepping location maximizing an avoidance angle comprising an angle formed by a first line between the object to be avoided and a center of pressure of the robot upon stepping to the stepping location, and a second line between a reference point of the robot upon stepping to the stepping location and the center of pressure of the robot upon stepping to the stepping location, the reference point comprising a point on a ground surface where the robot can step in order to come to a stop given a state of the robot after stepping to the stepping location;
controlling, by the computer system, the robot to take a step toward the stepping location.
1 Assignment
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Accused Products
Abstract
A system and method is disclosed for controlling a robot having at least two legs that is falling down from an upright posture. An allowable stepping zone where the robot is able to step while falling is determined. The allowable stepping zone may be determined based on leg Jacobians of the robot and maximum joint velocities of the robot. A stepping location within the allowable stepping zone for avoiding an object is determined. The determined stepping location maximizes an avoidance angle comprising an angle formed by the object to be avoided, a center of pressure of the robot upon stepping to the stepping location, and a reference point of the robot upon stepping to the stepping location. The reference point, which may be a capture point of the robot, indicates the direction of fall of the robot. The robot is controlled to take a step toward the stepping location.
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Citations
18 Claims
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1. A method for controlling a robot having at least two legs, the robot falling down from an upright posture, the method performed by a computer system, and the method comprising:
determining, by the computer system, a stepping location on a ground surface for the robot to step to in order to avoid hitting an object while falling, comprising; determining an allowable stepping zone where the robot is able to step while falling; and determining the stepping location within the allowable stepping zone, the stepping location maximizing an avoidance angle comprising an angle formed by a first line between the object to be avoided and a center of pressure of the robot upon stepping to the stepping location, and a second line between a reference point of the robot upon stepping to the stepping location and the center of pressure of the robot upon stepping to the stepping location, the reference point comprising a point on a ground surface where the robot can step in order to come to a stop given a state of the robot after stepping to the stepping location; controlling, by the computer system, the robot to take a step toward the stepping location. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A system for controlling a robot having at least two legs, the robot falling down from an upright posture, the system comprising:
a non-transitory computer-readable storage medium storing executable computer program modules configured for; determining a stepping location on a ground surface for the robot to step to in order to avoid hitting an object while falling, comprising; determining an allowable stepping zone where the robot is able to step while falling; and determining the stepping location within the allowable stepping zone, the stepping location maximizing an avoidance angle comprising an angle formed by a first line between the object to be avoided and a center of pressure of the robot upon stepping to the stepping location, and a second line between a reference point of the robot upon stepping to the stepping location and the center of pressure of the robot upon stepping to the stepping location, the reference point comprising a point on a ground surface where the robot can step in order to come to a stop given a state of the robot after stepping to the stepping location; and controlling the robot to take a step toward the stepping location. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A robot having at least two legs, the robot falling down from an upright posture, the robot including a robot controller comprising:
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one or more processors; and a non-transitory computer-readable storage medium storing computer-executable program instructions executable by the one or more processors, the instructions when executed causing the one or more processors to perform steps including; determining a stepping location on a ground surface for the robot to step to in order to avoid hitting an object while falling, comprising; determining an allowable stepping zone where the robot is able to step while falling; and determining the stepping location within the allowable stepping zone, the stepping location maximizing an avoidance angle comprising an angle formed by a first line between the object to be avoided and a center of pressure of the robot upon stepping to the stepping location, and a second line between a reference point of the robot upon stepping to the stepping location and the center of pressure of the robot upon stepping to the stepping location, the reference point comprising a point on a ground surface where the robot can step in order to come to a stop given a state of the robot after stepping to the stepping location; and controlling the robot to take a step toward the stepping location. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification