公开(公告)号：US10059392B1

公开(公告)日：2018-08-28

申请号：US15193273

申请日：2016-06-27

Applicant: Boston Dynamics, Inc.

Inventor： Gina Christine Fay ,  Alex Yu Khripin ,  Eric Whitman

IPC: B62D57/032

CPC classification number: B62D57/032 ,  B25J9/16

Abstract: An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.