Patent ID: 9387896
Filing Date: 2016-07-12
CPC Classification: B25J,B62D,G05B,Y10S

Claim Text:
1. A method comprising: determining, by a robot having at least one foot, a representation of a coefficient of friction between the foot and a ground surface; determining, by the robot, a representation of a gradient of the ground surface; based on the determined representations of the coefficient of friction and the gradient, determining, by the robot, a threshold orientation for a target ground reaction force on the foot of the robot during a footstep of the robot; determining, by the robot, the target ground reaction force, wherein the target ground reaction force comprises a magnitude and an orientation; determining, by the robot, an adjusted ground reaction force by adjusting the orientation of the target ground reaction force to be within the determined threshold orientation; and causing the foot of the robot to apply a force on the ground surface approximately equal to and opposing the adjusted ground reaction force during the footstep.