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Methods for robotic self-righting

  • US 8,977,485 B2
  • Filed: 03/15/2013
  • Issued: 03/10/2015
  • Est. Priority Date: 07/12/2012
  • Status: Expired due to Fees
First Claim
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1. An autonomous method for self-righting a maneuverable robot to affect recovery from an overturned state to its nominal upright configuration, the method comprising:

  • defining a convex hull and center of mass of each link of the robot;

    determining the convex hull and overall robot center of mass for each joint configuration of the robot;

    analyzing each convex hull face to determine its stability or instability;

    grouping continuously stable orientations of the robot and joint configurations together defining nodes and transitions there between;

    assigning a cost to transitions between nodes;

    computing an overall cost for each potential set of transition costs resulting in achievement of the goal; and

    determining a sequence of one or more actions to self-right the robot such that the sequence of actions minimizes the overall cost of self-righting the robot.

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