Patent ID: 9156159
Filing Date: 2015-10-13
Classification: B25J,B62D,G05B

Abstract:
1. A computer-implemented method comprising: simulating, via one or more processors, one or more trajectories of a robot in contact with a dynamic secondary object, wherein the robot maintains balance on the secondary object throughout each of the one or more simulated trajectories; determining, based on the one or more simulated trajectories, a first initial state of a cyclic gait of the robot such that the simulated trajectory of the robot starting from the first initial state substantially returns to the first initial state at an end of one cycle of the cyclic gait; and sending joint angles and joint velocities of the first initial state to a set of joint controllers of the robot to cause a leg of the robot to achieve the first initial state and to cause the robot to move through one or more cycles of the cyclic gait in motion with the secondary object, wherein determining the first initial state includes: