Example methods and devices for touch-down detection for a robotic device are described herein. In an example embodiment, a computing system may receive a force signal due to a force experienced at a limb of a robotic device. The system may receive an output signal from a sensor of the end component of the limb. Responsive to the received signals, the system may determine whether the force signal satisfies a first threshold and determine whether the output signal satisfies a second threshold. Based on at least one of the force signal satisfying the first threshold or the output signal satisfying the second threshold, the system of the robotic device may provide a touch-down output indicating touch-down of the end component of the limb with a portion of an environment.


    Access

    Download


    Export, share and cite



    Title :

    Touch-down Sensing for Robotic Devices


    Contributors:

    Publication date :

    2022-02-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



    TOUCH-DOWN SENSING FOR ROBOTIC DEVICES

    JACKOWSKI ZACHARY / BLANKESPOOR KEVIN / SAUNDERS JOHN AARON et al. | European Patent Office | 2024

    Free access

    Touch-down sensing for robotic devices

    JACKOWSKI ZACHARY / BLANKESPOOR KEVIN / SAUNDERS JOHN AARON et al. | European Patent Office | 2024

    Free access

    Touch-down Sensing for Robotic Devices

    JACKOWSKI ZACHARY / BLANKESPOOR KEVIN / SAUNDERS JOHN AARON et al. | European Patent Office | 2019

    Free access

    Touch-down sensing for robotic devices

    JACKOWSKI ZACHARY / BLANKESPOOR KEVIN / SAUNDERS JOHN AARON et al. | European Patent Office | 2021

    Free access

    Touch-down Sensing for Robotic Devices

    JACKOWSKI ZACHARY / BLANKESPOOR KEVIN / SAUNDERS JOHN AARON et al. | European Patent Office | 2017

    Free access