Patent ID: 11911916
Assignee: BOSTON DYNAMICS, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G  Y | IPC B

Claim 0:
1. A method comprising:
obtaining, by a plurality of joint sensors of a robot, a plurality of joint angle measurements of a plurality of jointed limbs of the robot;
obtaining, by a body sensor of the robot, a body orientation measurement indicating an orientation of a body of the robot;
determining, by a processing system of the robot, an aggregate orientation of the robot based on the plurality of joint angle measurements of the robot and the body orientation measurement of the robot;
determining, by the processing system of the robot, that the first aggregate orientation is unstable; and
controlling, by the processing system of the robot, movement of at least one of the plurality of jointed limbs of the robot in response to determining that the aggregate orientation is unstable.