Patent ID: 9499219
Filing Date: 2016-11-22
CPC Classification: B25J,B62D,Y10S

Claim Text:
1. A method comprising: receiving, at a computing system of a robotic device, a force signal due to a force experienced at a limb of the robotic device due to an end component of the limb contacting an element in an environment; receiving, at the computing system of the robotic device, an output signal from a sensor of the end component of the limb, wherein the sensor is provided at a sole of the end component and the output signal is based on a detected pressure at the sole; determining, at the computing system of the robotic device, an operational state of the limb of the robotic device; modifying, at the computing system of the robotic device, the force signal based on the operational state of the limb of the robotic device; determining whether the modified force signal satisfies a first threshold; determining whether the output signal satisfies a second threshold, wherein the second threshold is lower than the first threshold; and based on at least one of the modified force signal satisfying the first threshold or the output signal satisfying the second threshold, providing by the computing system of the robotic device, a touch-down output indicating touch-down of the end component of the limb with a portion of the environment.