Patent ID: 8965573
Filing Date: 2015-02-24
Classification: B25J,B62D,Y10S

Abstract:
1. A method for controlling the walking of a robot configured to move on at least two limbs on a progression surface, said method comprising, for each step of the robot: moving a first hip over a substantially spherical trajectory centered on an end of a first limb, the end of the first limb bearing on the progression surface, the first limb attached to said first hip; moving said end of the first limb to a new bearing point on the progression surface; computing a position of the new bearing point of said end of the first limb on the progression surface based on a speed of a center of mass of the robot; augmenting an elongation between the end of the first limb bearing on the progression surface and said first hip obtained by an impulse of said end on the progression surface triggered by one of: controlling the articulation of the knee, the articulation of the ankle, or the cylinder in the first limb to effect the impulse by a speed ramp as a function of a limiting acceleration of a motor and of a ratio of the speed of the center of mass to a walking speed setpoint.