US 11,911,916 B2
Natural pitch and roll
Alex Khripin, Cambridge, MA (US); and Alfred Anthony Rizzi, Belmont, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Jul. 25, 2022, as Appl. No. 17/814,776.
Application 17/814,776 is a continuation of application No. 16/858,795, filed on Apr. 27, 2020, granted, now 11,426,875.
Application 16/858,795 is a continuation of application No. 16/137,796, filed on Sep. 21, 2018, granted, now 10,654,168, issued on May 19, 2020.
Application 16/137,796 is a continuation of application No. 15/495,905, filed on Apr. 24, 2017, granted, now 10,105,850, issued on Oct. 23, 2018.
Application 15/495,905 is a continuation of application No. 14/659,012, filed on Mar. 16, 2015, granted, now 9,662,792, issued on May 30, 2017.
Claims priority of provisional application 62/041,281, filed on Aug. 25, 2014.
Prior Publication US 2023/0008096 A1, Jan. 12, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B62D 57/032 (2006.01)
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
OG exemplary drawing
 
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.