Adjusted environment navigation based on stair determination
AssigneeBoston Dynamics, Inc.
InventorEric Cary Whitman
Life of this patent
Estimating the term…
Abstract
Systems and methods are described for mapping and traversal of a set of stairs. A system can obtain a map of an environment. The system can determine that the environment includes a set of stairs based on the map. For example, the map may indicate the presence of the set of stairs within the environment. For mapping the set of stairs, the system can instruct performance of a stair mapping maneuver based on the determination that the environment includes the set of stairs. Based on the performance of the stair mapping maneuver, the system can map the set of stairs. The system can instruct traversal of the set of stairs by a robot based on the mapping of the set of stairs.
Claims26
A method comprising:
- obtaining, by data processing hardware of a robot, a map of an environment of the robot;
- determining, by the data processing hardware, based on the map, that the environment comprises a set of stairs;
- instructing, by the data processing hardware, performance of a stair mapping maneuver by the robot based on determining that the environment comprises the set of stairs;
- obtaining, by the data processing hardware, first sensor data based on the performance of the stair mapping maneuver;
- mapping, by the data processing hardware, the set of stairs based on the first sensor data;
- and
- instructing, by the data processing hardware, traversal of the set of stairs by the robot based on mapping the set of stairs.
A system comprising:
- data processing hardware;
- and
- memory in communication with the data processing hardware, the memory storing instructions that when executed on the data processing hardware cause the data processing hardware to:
- obtain a map of an environment of a robot;
- determine, based on the map, that the environment comprises a set of stairs;
- instruct performance of a stair mapping maneuver by the robot based on determining that the environment comprises the set of stairs;
- obtain first sensor data based on the performance of the stair mapping maneuver;
- map the set of stairs based on the first sensor data;
- and
- instruct traversal of the set of stairs by the robot based on mapping the set of stairs.
A robot comprising:
- data processing hardware;
- and
- memory in communication with the data processing hardware, the memory storing instructions that when executed on the data processing hardware cause the data processing hardware to:
- obtain a map of an environment of the robot;
- determine, based on the map, that the environment comprises a set of stairs;
- instruct performance of a stair mapping maneuver by the robot based on determining that the environment comprises the set of stairs;
- obtain first sensor data based on the performance of the stair mapping maneuver;
- map the set of stairs based on the first sensor data;
- and
- instruct traversal of the set of stairs by the robot based on mapping the set of stairs.
Dependencies are inferred from the claim text.