Handling gait disturbances with asynchronous timing
Abstract
An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.
- Inventors:
- Issue Date:
- Research Org.:
- Boston Dynamics, Inc., Waltham, MA (United States)
- Sponsoring Org.:
- USDOE; Defense Advanced Research Projects Agency (DARPA)
- OSTI Identifier:
- 1998397
- Patent Number(s):
- 11654569
- Application Number:
- 17/129,996
- Assignee:
- Boston Dynamics, Inc. (Waltham, MA)
- DOE Contract Number:
- HR00011-10-C-0025; W91CRB-11-C-0047
- Resource Type:
- Patent
- Resource Relation:
- Patent File Date: 12/22/2020
- Country of Publication:
- United States
- Language:
- English
Citation Formats
Blankespoor, Kevin, Stephens, Benjamin, and da Silva, Marco. Handling gait disturbances with asynchronous timing. United States: N. p., 2023.
Web.
Blankespoor, Kevin, Stephens, Benjamin, & da Silva, Marco. Handling gait disturbances with asynchronous timing. United States.
Blankespoor, Kevin, Stephens, Benjamin, and da Silva, Marco. Tue .
"Handling gait disturbances with asynchronous timing". United States. https://www.osti.gov/servlets/purl/1998397.
@article{osti_1998397,
title = {Handling gait disturbances with asynchronous timing},
author = {Blankespoor, Kevin and Stephens, Benjamin and da Silva, Marco},
abstractNote = {An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2023},
month = {5}
}
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