Invention Grant
- Patent Title: Natural pitch and roll
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Application No.: US14659012Application Date: 2015-03-16
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Publication No.: US09662792B2Publication Date: 2017-05-30
- Inventor: Alex Khripin , Alfred Anthony Rizzi
- Applicant: Google Inc.
- Applicant Address: US CA Mountain View
- Assignee: Google Inc.
- Current Assignee: Google Inc.
- Current Assignee Address: US CA Mountain View
- Agency: McDonnell Boehnen Hulbert & Berghoff LLP
- Main IPC: G05B15/00
- IPC: G05B15/00 ; G05B19/00 ; B25J9/16 ; B62D57/032

Abstract:
A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.
Public/Granted literature
- US20160052136A1 Natural Pitch and Roll Public/Granted day:2016-02-25
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