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Walking robot and simultaneous localization and mapping method thereof

  • US 8,873,831 B2
  • Filed: 12/15/2011
  • Issued: 10/28/2014
  • Est. Priority Date: 12/21/2010
  • Status: Active Grant
First Claim
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1. A method comprising:

  • acquiring image data of a space about which a walking robot walks and rotational angle data of rotary joints relating to walking of the walking robot;

    calculating, by a computer, odometry data using kinematic data of respective links constituting the walking robot and the rotational angle data; and

    localizing the walking robot and mapping the space about which the walking robot walks using the image data and the odometry data.

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