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

Claim 11:
12. A robotic device comprising:
one or more limbs, each limb comprising a respective end component;
a computing system; and
memory hardware in communication with the computing system, the memory hardware storing instructions that when executed cause the computing system to perform operations comprising:
receiving a first input from a first sensor of a limb of the one or more limbs, the first sensor configured to measure a magnitude of pressure in a bladder of fluid;
receiving a second input from a second sensor of the limb;
determining a comparison of the first input to a threshold;
determining a touch-down of an end component of the limb against a surface in an environment of the robotic device based on both:
the comparison of the first input to the threshold, and
the second input; and

providing an output indicating the touch-down.