Patent ID: 11911892
Assignee: BOSTON DYNAMICS, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G  Y | IPC B  G

Claim 0:
1. A computer implemented method comprising:
receiving, at data processing hardware of a legged robot, a first input from a first sensor of a limb of the legged robot, the first sensor configured to measure a magnitude of pressure in a bladder of fluid;
receiving, at the data processing hardware, a second input from a second sensor of the limb;
determining, by the data processing hardware, a comparison of the first input to a threshold;
determining, by the data processing hardware, a touch-down of an end component of the limb against a surface in an environment of the legged robot based on both:
the comparison of the first input to the threshold, and
the second input; and

providing, by the data processing hardware, an output indicating the touch-down.