Title:
METHOD TO IMPROVE WALKING PERFORMANCE OF QUADRUPEDS OVER SOFT SURFACES
Document Type and Number:
WIPO Patent Application WO/2024/030669
Kind Code:
A3
Abstract:
The present invention pertains to a method for a quadruped robot to navigate through granular media, such as deep sand and for providing improvements in the walking performance over various types of granular media. In particular, the present invention proposes reducing the assumed coefficient of friction about the ground, impacting the ground harder than nominal in the vertical direction at touchdown, and forcing a toe lift off into swing if a knee joint extends beyond a threshold stance to help increase the robustness of a quadruped robot's locomotive abilities on challenging terrains and provide an improvement in the field of biomechanics and robotic navigation.
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Inventors:
DE AVIK (US)
DUPERRET JEFFREY (US)
DUPERRET JEFFREY (US)
Application Number:
PCT/US2023/029588
Publication Date:
April 11, 2024
Filing Date:
August 07, 2023
Export Citation:
Assignee:
GHOST ROBOTICS CORP (US)
International Classes:
B25J13/08; B25J9/10; B25J9/16; B25J19/02; G05D1/00; G06V20/30; A61B5/11; G06V20/50
Attorney, Agent or Firm:
BRUNO, Frank, A. (US)
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