Patent ID: 11911916
Assignee: BOSTON DYNAMICS, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G  Y | IPC B

Claim 11:
12. A robot comprising:
a body;
a plurality of jointed limbs coupled to the body;
a plurality of sensors comprising a body sensor configured to obtain a body orientation measurement indicating an orientation of the body, and a plurality of joint sensors configured to obtain a plurality of joint angle measurements of the plurality of jointed limbs;
a processing system; and
memory hardware in communication with the processing system, the memory hardware storing instructions that when executed on the processing system cause the processing system to perform operations comprising:
determining an aggregate orientation of the robot based on the plurality of joint angle measurements of the robot and the body orientation measurement of the robot;
determining that the aggregate orientation is unstable; and
controlling movement of at least one of the plurality of jointed limbs of the robot in response to determining that the aggregate orientation is unstable.