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:
Nov. 18, 2025
Filed:
Dec. 06, 2022
Mitsubishi Electric Research Laboratories, Inc.;
Marcel Menner, Arlington, MA (US);
Stefano Di Cairano, Newton, MA (US);
Alexander Schperberg, Los Angeles, CA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Abstract
A control system for controlling a legged robot comprises a processor and a memory. The control system initializes, in response to receiving a task, a probabilistic filter with parameters associated with a state of a reference trajectory of the legged robot, wherein the parameters are predetermined for the task and encode the reference trajectory including a combination of different reference trajectories for coordinated motion primitives of different actuators of the legged robot moving the legged robot according to the task, decodes the parameters to generate the reference trajectory, and executes, in response to receiving a feedback signal, the probabilistic filter to iteratively track the state of the reference trajectory satisfying a performance objective with respect to the state of the legged robot to update the parameters.