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
BEIN-STUB-RESCHWINGMECHANISMUS FÜR ROBOTER MIT BEINEN
RÉ-OSCILLATION DE TRONÇON DE JAMBE POUR ROBOT SUR JAMBES
2025-06-18
Patent
Electronic Resource
English