Patent ID: 11890762
Assignee: BEIJING XIAOMI ROBOT TECHNOLOGY CO., LTD.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 9:
10. An apparatus for detecting a ground attribute of a legged robot, comprising:
one or more processors;
a memory storing instructions executable by the one or more processors;
wherein the one or more processors are configured to:
obtain a collision audio caused by acting of a foot of the legged robot on a ground of the legged robot;
generate a first collision image by sampling the collision audio;
collect a plantar force value of the foot generate a second collision image according to the plantar force value and the first collision image; and
generate a workable level attribute corresponding to the ground by inputting the second collision image into a first neural network model, wherein the workable level attribute is indicated by a value determined based on a degree of hardness and rigidity of the ground.