CPC B25J 9/1694 (2013.01) [B25J 9/1664 (2013.01); B62D 57/032 (2013.01); G05B 2219/39082 (2013.01); G05B 2219/39215 (2013.01); G05B 2219/39325 (2013.01); G05D 2201/0217 (2013.01); Y10S 901/01 (2013.01); Y10S 901/09 (2013.01); Y10S 901/46 (2013.01)] | 22 Claims |
12. A robot comprising:
a body;
a plurality of jointed limbs coupled to the body;
a plurality of sensors comprising a body sensor configured to obtain a body orientation measurement indicating an orientation of the body, and a plurality of joint sensors configured to obtain a plurality of joint angle measurements of the plurality of jointed limbs;
a processing system; and
memory hardware in communication with the processing system, the memory hardware storing instructions that when executed on the processing system cause the processing system to perform operations comprising:
determining an aggregate orientation of the robot based on the plurality of joint angle measurements of the robot and the body orientation measurement of the robot;
determining that the aggregate orientation is unstable; and
controlling movement of at least one of the plurality of jointed limbs of the robot in response to determining that the aggregate orientation is unstable.
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