Patent ID: 11921508
Assignee: BOSTON DYNAMICS, INC.
Field: Control (Instruments)
Classification: CPC G  B  Y | IPC B  G

Claim 0:
1. A computer-implemented method when executed by data processing hardware of a robot causes the data processing hardware to perform operations comprising:
receiving a pose of the robot with respect to a ground surface;
determining, using first sensor information, one or more virtual contact points on the ground surface, each virtual contact point of the one or more virtual contact points representing a location of an estimated future contact point between the robot and the ground surface based on a current position and a current velocity of the robot;
determining, using second sensor information, one or more physical contact points each representing a location of a contact point between the robot and the ground surface;
determining a ground plane estimation of the ground surface based on the pose of the robot, the one or more physical contact points, and the one or more virtual contact points; and
adjusting, based on the ground plane estimation, the pose of the robot.