The present invention regards a reflex algorithm for a legged robot upon detecting an unexpected contact in order to reach a desired touchdown location using a leg stub re-swing. The proprioceptive leg-stub re-swing algorithm is a two-phase algorithm that is particularly beneficial in environments with unstructured terrain and wherein vision sensors may be damaged upon contact with protruding obstacles.
Leg-Stub Re-Swing for Legged Robot
15.02.2024
Patent
Elektronische Ressource
Englisch