Method to Use Depth Sensors on the Bottom of Legged Robot for Stair Climbing
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United States of America Patent
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Issued Date -
Feb 15, 2024
app pub date -
Aug 8, 2023
filing date -
Aug 9, 2022
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Abstract
The present invention pertains to a system method for using depth sensors on the fore, aft and bottom sides of a legged robot for stair climbing. The method uses real-time depth information to help with a legged robot's navigation on a variety of leveled terrains. Sensing methods are employed in addition to generating a composite field of view stretching from the front to the back of the legged robot. Downward facing depth cameras positioned at a particular angle enable the system to guide a legged robot over an environment which is being navigated by offering a persistent view of the environment. Other tools such as heightmap filling gradient map calculation, and strategic foothold selection are also implemented.
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