The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 03, 2024
Filed:
May. 19, 2020
Boston Dynamics, Inc., Waltham, MA (US);
Eric Cary Whitman, Watertown, MA (US);
Boston Dynamics, Inc., Waltham, MA (US);
Abstract
A method for a stair tracking for modeled and perceived terrain includes receiving, at data processing hardware, sensor data about an environment of a robot. The method also includes generating, by the data processing hardware, a set of maps based on voxels corresponding to the received sensor data. The set of maps includes a ground height map and a map of movement limitations for the robot. The map of movement limitations identifies illegal regions within the environment that the robot should avoid entering. The method further includes generating a stair model for a set of stairs within the environment based on the sensor data, merging the stair model and the map of movement limitations to generate an enhanced stair map, and controlling the robot based on the enhanced stair map or the ground height map to traverse the environment.