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

Claim 11:
12. A robot comprising:
a body;
two or more legs coupled to the body;
data processing hardware; and
memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause 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 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.