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.


    Access

    Download


    Export, share and cite



    Title :

    Handling Gait Disturbances with Asynchronous Timing


    Contributors:

    Publication date :

    2020-08-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



    Handling gait disturbances with asynchronous timing

    BLANKESPOOR KEVIN / STEPHENS BENJAMIN / DA SILVA MARCO | European Patent Office | 2023

    Free access

    Handling gait disturbances with asynchronous timing

    BLANKESPOOR KEVIN / STEPHENS BENJAMIN / DA SILVA MARCO | European Patent Office | 2024

    Free access

    Handling gait disturbances with asynchronous timing

    BLANKESPOOR KEVIN / STEPHENS BENJAMIN / DA SILVA MARCO | European Patent Office | 2020

    Free access

    Handling gait disturbances with asynchronous timing

    BLANKESPOOR KEVIN / STEPHENS BENJAMIN / DA SILVA MARCO | European Patent Office | 2021

    Free access

    Handling gait disturbances with asynchronous timing

    BLANKESPOOR KEVIN / STEPHENS BENJAMIN / DA SILVA MARCO | European Patent Office | 2016

    Free access