US 12,384,038 B2
Generalized coordinate surrogates for integrated estimation and control
Gabriel Nelson, Waltham, MA (US); and Benjamin Stephens, Somerville, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Jun. 30, 2023, as Appl. No. 18/345,405.
Application 16/055,983 is a division of application No. 14/834,855, filed on Aug. 25, 2015, granted, now 10,081,098, issued on Sep. 25, 2018.
Application 18/345,405 is a continuation of application No. 17/303,731, filed on Jun. 7, 2021, granted, now 11,731,277.
Application 17/303,731 is a continuation of application No. 16/055,983, filed on Aug. 6, 2018, granted, now 11,027,415, issued on Jun. 8, 2021.
Claims priority of provisional application 62/041,275, filed on Aug. 25, 2014.
Prior Publication US 2023/0347524 A1, Nov. 2, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 5/00 (2006.01); B25J 13/08 (2006.01); B25J 19/02 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1682 (2013.01) [B25J 5/00 (2013.01); B25J 9/1666 (2013.01); B25J 13/089 (2013.01); B25J 19/02 (2013.01); B62D 57/032 (2013.01); Y10S 901/01 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
controlling, by data processing hardware of a legged robot, a first leg of the legged robot to move to a first touchdown location on a surface;
obtaining, by the data processing hardware, a first measurement indicating a distance between a center of mass of the legged robot and the first leg when the first leg touches down at the first touchdown location;
controlling, by the data processing hardware, the first leg to rise from the surface;
obtaining, by the data processing hardware, a second measurement indicating a distance between the center of mass of the legged robot and the first leg when the first leg is raised from the surface;
determining, by the data processing hardware, a second touchdown location on the surface for a second leg of the legged robot based on the first measurement and the second measurement; and
controlling, by the data processing hardware, the second leg of the legged robot to move to the second touchdown location on the surface.