公开(公告)号：US20230418297A1

公开(公告)日：2023-12-28

申请号：US18337933

申请日：2023-06-20

Applicant: Boston Dynamics, Inc.

Inventor： Adam Komoroski ,  Brian Yamauchi ,  Matthew Klingensmith

IPC: G05D1/02 ,  G06T7/10 ,  B62D57/032

CPC classification number: G05D1/0214 ,  G05D1/0238 ,  G05D1/0274 ,  G06T7/10 ,  B62D57/032 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: Methods and apparatus for navigating a robot along a route through an environment, the route being associated with a mission, are provided. The method comprises identifying, based on sensor data received by one or more sensors of the robot, a set of potential obstacles in the environment, determining, based at least in part on stored data indicating a set of footfall locations of the robot during a previous execution of the mission, that at least one of the potential obstacles in the set is an obstacle, and navigating the robot to avoid stepping on the obstacle.