Patent ID: 9387588
Filing Date: 2016-07-12
CPC Classification: B25J,B62D,Y10S

Claim Text:
1. A method comprising: detecting a disturbance to a gait of a robot, wherein the gait comprises a swing state and a step down state, the swing state comprising a target swing trajectory for a first foot of the robot during a step, and wherein the target swing trajectory during the step comprises a beginning at a first time, and an end at a second time; based on the detected disturbance, causing the first foot of the robot to leave the swing state and enter the step down state before the second time; after causing the first foot to enter the step down state before the second time, causing the first foot to make contact with a ground surface; and based on the first foot making contact with the ground surface, causing a second foot to lift off of the ground surface.