US 2010/0161126 A1 · Humanoid Fall Direction Change Among Multiple Objects

Abstract

A system and method is disclosed for controlling a robot having at least two legs, the robot falling down from an upright posture and the robot located near a plurality of surrounding objects. A plurality of predicted fall directions of the robot are determined, where each predicted fall direction is associated with a foot placement strategy, such as taking a step, for avoiding the surrounding objects. The degree to which each predicted fall direction avoids the surrounding objects is determined. A best strategy is selected from the various foot placement strategies based on the degree to which the associated fall direction avoids the surrounding objects. The robot is controlled to implement this best strategy.

Claims18

Dependent claims

A method for controlling a robot having at least two legs, the robot falling down from an upright posture and the robot located near a plurality of surrounding objects, the method comprising:

determining a plurality of predicted fall directions of the robot, each predicted fall direction associated with a foot placement strategy for avoiding the plurality of surrounding objects;
determining a degree to which each predicted fall direction avoids the plurality of surrounding objects;
selecting a best strategy from the plurality of foot placement strategies, the selecting based on the degree to which each predicted fall direction avoids the plurality of surrounding objects;
and
controlling the robot to implement the best strategy.

2 more elements

Dependencies are inferred from the claim text.

Humanoid Fall Direction Change Among Multiple Objects

Life of this patent

Humanoid Fall Direction Change Among Multiple Objects

Life of this patent

Abstract

Claims18