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Patent Searching and Data


Title:
TERRAIN AWARE STEP PLANNING SYSTEM
Document Type and Number:
WIPO Patent Application WO/2020/076418
Kind Code:
A8
Abstract:
A method for terrain and constraint planning a step plan includes receiving, at data processing hardware (36) of a robot (10), image data (17) of an environment (8) about the robot from at least one image sensor (31). The robot includes a body (11) and legs (12). The method also includes generating, by the data processing hardware, a body-obstacle map (112), a ground height map (116), and a step-obstacle map (114) based on the image data and generating, by the data processing hardware, a body path (510) for movement of the body of the robot while maneuvering in the environment based on the body-obstacle map. The method also includes generating, by the data processing hardware, a step path (350) for the legs of the robot while maneuvering in the environment based on the body path, the body-obstacle map, the ground height map, and the step-obstacle map.

Inventors:
WHITMAN ERIC (US)
FAY GINA (US)
Application Number:
PCT/US2019/046646
Publication Date:
April 22, 2021
Filing Date:
August 15, 2019
Export Citation:
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Assignee:
BOSTON DYNAMICS INC (US)
International Classes:
G05D1/02; B25J9/00; B25J11/00
Attorney, Agent or Firm:
KRUEGER, Brett, A. (US)
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