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Handling gait disturbances with asynchronous timing

DC
  • US 9,387,588 B1
  • Filed: 08/25/2014
  • Issued: 07/12/2016
  • Est. Priority Date: 08/25/2014
  • Status: Active Grant
First Claim
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1. A method comprising:

  • detecting a disturbance to a gait of a robot, wherein the gait comprises a swing state and a step down state, the swing state comprising a target swing trajectory for a first foot of the robot during a step, and wherein the target swing trajectory during the step comprises a beginning at a first time, and an end at a second time;

    based on the detected disturbance, causing the first foot of the robot to leave the swing state and enter the step down state before the second time;

    after causing the first foot to enter the step down state before the second time, causing the first foot to make contact with a ground surface; and

    based on the first foot making contact with the ground surface, causing a second foot to lift off of the ground surface.

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