US 12,128,570 B2
Handling gait disturbances with asynchronous timing
Kevin Blankespoor, Arlington, MA (US); Benjamin Stephens, Somerville, MA (US); and Marco da Silva, Arlington, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by BOSTON DYNAMICS, INC., Waltham, MA (US)
Filed on Apr. 12, 2023, as Appl. No. 18/299,645.
Application 18/299,645 is a continuation of application No. 17/129,996, filed on Dec. 22, 2020, granted, now 11,654,569.
Application 17/129,996 is a continuation of application No. 16/870,381, filed on May 8, 2020, granted, now 10,888,999.
Application 16/870,381 is a continuation of application No. 16/526,115, filed on Jul. 30, 2019, granted, now 10,668,624.
Application 16/526,115 is a continuation of application No. 15/714,451, filed on Sep. 25, 2017, granted, now 10,406,690.
Application 15/714,451 is a continuation of application No. 15/190,127, filed on Jun. 22, 2016, granted, now 9,789,611.
Application 15/190,127 is a continuation of application No. 14/468,118, filed on Aug. 25, 2014, granted, now 9,387,588.
Prior Publication US 2023/0264358 A1, Aug. 24, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1692 (2013.01) [B25J 9/1628 (2013.01); B62D 57/032 (2013.01); B25J 9/16 (2013.01); B25J 9/1679 (2013.01); Y10S 901/01 (2013.01); Y10S 901/46 (2013.01); Y10S 901/49 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
determining, by data processing hardware of a quadruped robot, that a first foot of a first leg of the quadruped robot contacts a ground surface at a first time that is different as compared to a second time that is based on an estimated swing time for the first leg;
determining, by the data processing hardware, that a second foot of a second leg of the quadruped robot contacts the ground surface; and
based on determining that the first foot contacts the ground surface at the first time that is different as compared to the second time and determining that the second foot contacts the ground surface, transitioning, by the data processing hardware, control of a third leg and a fourth leg of the quadruped robot from a stance phase to a swing phase.