Patent ID: 9499218
Filing Date: 2016-11-22
CPC Classification: B62D,G05D,Y10S

Claim Text:
1. A method comprising: determining, by a robot, a position of a center of mass of the robot, wherein the robot comprises a first foot in contact with a ground surface and a second foot not in contact with the ground surface; determining a velocity of the center of mass of the robot; based on the determined position of the center of mass and the determined velocity of the center of mass, determining a capture point for the robot, wherein the capture point indicates a position on the ground surface; determining a threshold position for the capture point, wherein the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface, and wherein determining the threshold position for the capture point comprises determining a lateral threshold for the capture point and a forward threshold for the capture point; determining that the capture point has reached the threshold position; and based on the determination that the capture point has reached the threshold position, causing, by the robot, the second foot to contact the ground surface.