Systems and methods for ground plane estimation
First Claim
1. A method operable by a computing device, the method comprising:
- determining an orientation of a body of a robotic device with respect to a gravity aligned reference frame;
determining a location of one or more contact points between the robotic device and a ground surface;
determining, by one or more processors of the computing device, a ground plane estimation of the ground surface based on the determined orientation of the robotic device with respect to the gravity aligned reference frame and the determined locations of the one or more contact points between the robotic device and the ground surface, wherein the ground plane estimation includes a flat-plane approximation of a shape of the ground surface that minimizes a distance between the one or more contact points and the determined ground plane estimation;
determining a distance between the body of the robotic device and the determined ground plane estimation; and
providing instructions, by the one or more processors, to adjust a position of the robotic device based on the determined distance and the determined ground plane estimation.
6 Assignments
0 Petitions
Accused Products
Abstract
Example systems and methods for estimating a ground plane are provided. An example method may include determining an orientation of a body of a robotic device with respect to a gravity aligned reference frame. The method may also include determining the location of one or more contact points between the robotic device and a ground surface. The method may also include determining a ground plane estimation of the ground surface based on the determined orientation of the robotic device with respect to the gravity aligned reference frame and the determined locations of the one or more contact points. The method may also include determining a distance between the body of the robotic device and the determined ground plane estimation. The method may also include providing instructions to adjust a position and/or orientation of the robotic device based on the determined distance and the determined ground plane estimation.
-
Citations
21 Claims
-
1. A method operable by a computing device, the method comprising:
-
determining an orientation of a body of a robotic device with respect to a gravity aligned reference frame; determining a location of one or more contact points between the robotic device and a ground surface; determining, by one or more processors of the computing device, a ground plane estimation of the ground surface based on the determined orientation of the robotic device with respect to the gravity aligned reference frame and the determined locations of the one or more contact points between the robotic device and the ground surface, wherein the ground plane estimation includes a flat-plane approximation of a shape of the ground surface that minimizes a distance between the one or more contact points and the determined ground plane estimation; determining a distance between the body of the robotic device and the determined ground plane estimation; and providing instructions, by the one or more processors, to adjust a position of the robotic device based on the determined distance and the determined ground plane estimation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
-
-
15. A robotic device including:
-
a body; two or more legs extending from the body; at least one processor; and data storage comprising program logic executable by the at least one processor to cause the robotic device to perform functions comprising; determining an orientation of the body of the robotic device with respect a gravity aligned reference frame; determining a location of one or more contact points between the robotic device and a ground surface; determining a ground plane estimation of the ground surface based on the determined orientation of the robotic device with respect to the gravity aligned reference frame and the determined locations of the one or more contact points between the robotic device and the ground surface, wherein the ground plane estimation includes a flat-plane approximation of a shape of the ground surface that minimizes a distance between the one or more contact points and the determined ground plane estimation; determining a distance between the body of the robotic device and the determined ground plane estimation; and providing instructions to adjust a position of the robotic device based on the determined distance and the determined ground plane estimation. - View Dependent Claims (16, 17, 18)
-
-
19. A non-transitory computer-readable storage medium having stored thereon instructions, that when executed by a computing device, cause the computing device to carry out functions comprising:
-
determining an orientation of a body of a robotic device with respect to a gravity aligned reference frame; determining a location of one or more contact points between the robotic device and a ground surface; determining a ground plane estimation of the ground surface based on the determined orientation of the robotic device with respect to the gravity aligned reference frame and the determined locations of the one or more contact points between the robotic device and the ground surface, wherein the ground plane estimation includes a flat-plane approximation of a shape of the ground surface that minimizes a distance between the one or more contact points and the determined ground plane estimation; determining a distance between the body of the robotic device and the determined ground plane estimation; and providing instructions to adjust a position of the robotic device based on the determined distance and the determined ground plane estimation. - View Dependent Claims (20, 21)
-
Specification