US 12,440,969 B2
Elevation change detection system, robot including same, and associated method
Smruti Panigrahi, Novi, MI (US); and Jake Olkin, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Jun. 13, 2023, as Appl. No. 18/333,544.
Prior Publication US 2024/0416509 A1, Dec. 19, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01)
CPC B25J 9/161 (2013.01) [B25J 9/1666 (2013.01); B25J 19/023 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A robot comprising:
an operating system;
a sensor electrically connected to the operating system;
an actuated joint comprising a pair of legs, wherein the actuated joint is configured to be moved by the operating system;
a center of gravity;
a processor electrically connected to the sensor; and
a memory comprising instructions that, when executed by the processor, cause the processor to perform operations comprising:
detect an edge of a structure with the sensor,
classify an elevation change associated with the edge, and
adjust the operating system based on the elevation change,
determine an angle of ascent or an angle of descent corresponding to the elevation change, and
cause the actuated joint to traverse the structure at the angle of ascent or the angle of descent with the center of gravity of the robot remaining fixed with respect to the pair of legs.