A method of footstep contact detection includes receiving joint dynamics data for a swing phase of a swing leg of the robot, receiving odometry data indicative of a pose of the robot, determining whether an impact on the swing leg is indicative of a touchdown of the swing leg based on the joint dynamics data and an amount of completion of the swing phase, and determining when the impact on the swing leg is not indicative of the touchdown of the swing leg, a cause of the impact based on the joint dynamics data and the odometry data.


    Access

    Download


    Export, share and cite



    Title :

    FOOTSTEP CONTACT DETECTION


    Additional title:

    ERFASSUNG VON TRITTSTUFENKONTAKT
    DÉTECTION DE CONTACT DE PAS


    Contributors:
    WHITMAN ERIC (author) / KHRIPIN ALEX (author)

    Publication date :

    2022-06-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein



    FOOTSTEP CONTACT DETECTION

    WHITMAN ERIC / KHRIPIN ALEX | European Patent Office | 2024

    Free access

    Footstep contact detection

    WHITEMAN EVAN / KRIBBING ANDREAS | European Patent Office | 2022

    Free access

    FOOTSTEP CONTACT DETECTION

    WHITMAN ERIC / KHRIPIN ALEX | European Patent Office | 2021

    Free access

    FOOTSTEP CONTACT DETECTION

    WHITMAN ERIC / KHRIPIN ALEX | European Patent Office | 2022

    Free access

    FOOTSTEP CONTACT DETECTION

    European Patent Office | 2024

    Free access