Patent ID: 9663165
Date: 2017-05-30
CPC Classifications: B25J,B62D,G05B,Y10S

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