Methods and systems for planning a body position of a robotic device: United States Patent 9975245

By: Whitman, Eric

Example methods and systems for planning a body position for a robotic device are described. An example method includes receiving a reference step path that defines predetermined step locations for end components of a robotic device. The method also includes receiving a set of constraints, receiving a predetermined height and pitch, and assigning a cost to each of a height of the body, a height acceleration of the body, and a pitch acceleration of the body. The method also includes determining a new height and a new pitch of the body that reduces the height acceleration and the pitch acceleration of the body when the end component moves along the reference step path. Further, the method includes instructing the robotic device to actuate the plurality of appendages to achieve the new height and the new pitch of the body when the end component moves along the reference step path.

• Format: Paperback
• Language: English
• ISBN: B08RGV6VWT
• ISBN13: 9798585122521
• Release Date: January 1
• Publisher: Independently Published
• Length: 28 Pages
• Weight: 0.20 lbs.
• Dimensions: 0.1" x 8.5" x 11.0"