US 12,139,217 B2
Slip detection for robotic locomotion
Kevin Blankespoor, Arlington, MA (US); Alex Perkins, Arlington, 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 Jan. 21, 2022, as Appl. No. 17/581,361.
Application 17/581,361 is a continuation of application No. 17/158,471, filed on Jan. 26, 2021, granted, now 11,654,984.
Application 17/158,471 is a continuation of application No. 16/393,003, filed on Apr. 24, 2019, granted, now 11,203,385, issued on Dec. 21, 2021.
Application 16/393,003 is a continuation of application No. 15/443,899, filed on Feb. 27, 2017, granted, now 10,300,969, issued on May 28, 2019.
Application 15/443,899 is a continuation of application No. 14/468,146, filed on Aug. 25, 2014, granted, now 9,618,937, issued on Apr. 11, 2017.
Prior Publication US 2022/0143828 A1, May 12, 2022
Int. Cl. B62D 57/02 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B62D 57/032 (2006.01); G05D 1/00 (2006.01)
CPC B62D 57/02 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1653 (2013.01); B25J 9/1694 (2013.01); B25J 13/08 (2013.01); B25J 13/085 (2013.01); B62D 57/032 (2013.01); G05D 1/021 (2013.01); G05D 1/027 (2013.01); Y10S 901/01 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A computer-implemented method when executed by data processing hardware of a legged robot causes the data processing hardware to perform operations comprising:
determining that a first foot of the legged robot is in contact with a ground surface;
determining a rotation of a body of the legged robot; and
in response to determining the rotation of the body of the legged robot, instructing operation of a second foot of the legged robot not in contact with the ground surface to make contact with the ground surface.