A computer-implemented method, when executed by data processing hardware, causes the data processing hardware to perform operations. The operations include detecting a candidate support surface at a current surface that is lower than the support legged robot. It is determined whether the candidate support surface includes a range of missing topographic data within a portion of the environment surrounding the legged robot, wherein the range is sufficiently large to receive ground-contacting placement of legs of the legged robot. If missing topographic data is determined, at least a portion of the range of missing topographic data is classified as a step-less region of the candidate support surface. The step-less area indicates an area where the legged robot should avoid touching the legs of the legged robot.
一种计算机实现的方法,当由数据处理硬件执行时,使数据处理硬件执行操作。操作包括检测高度低于支撑腿式机器人的当前表面处的候选支撑表面。确定候选支撑表面是否包括围绕腿式机器人的环境的一部分内的缺失地形数据的范围,其中该范围足够大以接收腿式机器人的腿的触地放置。如果缺失地形数据被确定,则缺失地形数据的范围的至少一部分被分类为候选支撑表面的无步伐区域。无步伐区域指示腿式机器人应该避免触碰到腿式机器人的腿的区域。
Detecting negative obstacles
检测负障碍
2024-04-02
Patent
Electronic Resource
Chinese
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