US 11,999,423 B2 · Leg swing trajectories

Abstract

A method of planning a swing trajectory for a leg of a robot includes receiving an initial position of a leg of the robot, an initial velocity of the leg, a touchdown location, and a touchdown target time. The method also includes determining a difference between the initial position and the touchdown location and separating the difference between the initial position and the touchdown location into a horizontal motion component and a vertical motion component. The method also includes selecting a horizontal motion policy and a vertical motion policy to satisfy the motion components. Each policy produces a respective trajectory as a function of the initial position, the initial velocity, the touchdown location, and the touchdown target time. The method also includes executing the selected policies to swing the leg of the robot from the initial position to the touchdown location at the touchdown target time.

Claims24

Dependent claims

A method comprising:

determining, by data processing hardware of a robot, a horizontal motion component and a vertical motion component of a difference between an initial position of a leg of the robot and a touchdown location for the leg;
selecting, by the data processing hardware, a horizontal motion policy from a set of horizontal motion policies, the selected horizontal motion policy having a first velocity and a first acceleration that satisfies the horizontal motion component;
selecting, by the data processing hardware, a vertical motion policy from a set of vertical motion policies, the selected vertical motion policy having a second velocity and a second acceleration that satisfies the vertical motion component;
and
executing, by the data processing hardware, the selected horizontal motion policy and the selected vertical motion policy to swing the leg of the robot along a swing trajectory from the initial position of the leg to the touchdown location for the leg within a touchdown target time.

2 more elements

A robot comprising:

a body;
a plurality of legs coupled to the body and configured to maneuver the robot, the plurality of legs including a leg;
data processing hardware controlling the plurality of legs;
and
memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
determining a horizontal motion component and a vertical motion component of a difference between an initial position of the leg of the robot and a touchdown location for the leg;
selecting a horizontal motion policy from a set of horizontal motion policies, the selected horizontal motion policy having a first velocity and a first acceleration that satisfies the horizontal motion component;
selecting a vertical motion policy from a set of vertical motion policies, the selected vertical motion policy having a second velocity and a second acceleration that satisfies the vertical motion component;
and
executing the selected horizontal motion policy and the selected vertical motion policy to swing the leg of the robot along a swing trajectory from the initial position of the leg to the touchdown location for the leg within a touchdown target time.

7 more elements

Dependencies are inferred from the claim text.

Leg swing trajectories

Life of this patent

Leg swing trajectories

Life of this patent

Abstract

Claims24