WO2024035700 - METHOD TO USE DEPTH SENSORS ON THE BOTTOM OF LEGGED ROBOT FOR STAIR CLIMBING
National phase entry:
Publication Number
WO/2024/035700
Publication Date
15.02.2024
International Application No.
PCT/US2023/029730
International Filing Date
08.08.2023
Title **
[English]
METHOD TO USE DEPTH SENSORS ON THE BOTTOM OF LEGGED ROBOT FOR STAIR CLIMBING
[French]
PROCÉDÉ D'UTILISATION DE CAPTEURS DE PROFONDEUR SUR LA PARTIE INFÉRIEURE D'UN ROBOT MARCHEUR POUR UNE MONTÉE D'ESCALIER
Applicants **
GHOST ROBOTICS CORPORATION
Inventors
KENNEALLY, Gavin
NGUYEN, Vinh, Q.
TOPPING, Thomas, Turner
DE, Avik
Priority Data
63/396,319
09.08.2022
US
Application details
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International Searching Authority |
USPTO
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| Recordal of a Change of the Applicant's Name/Address |
Change of Applicant's Name and Address
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| Type of Assignment |
The Standard Agent's Assignment
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| Applicant's Legal Status |
Legal Entity
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| Entry into National Phase under |
Chapter I
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| Patent Delivery |
Send the Letters Patent by Courier
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| Translation |
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Quotation for National Phase entry
| Country | Stages | Total | |
|---|---|---|---|
| China | Filing, Examination, Granting | 2244 | |
| EPO | Filing, Examination, Granting | 14306 | |
| Japan | Filing, Examination, Granting | 2356 | |
| South Korea | Filing, Examination, Granting | 2407 | |
| USA | Filing, Examination, Granting | 4310 |
Total:
25,623
The term for entry into the National Phase has expired. This quotation is for informational purposes only
Abstract[English]
The present invention pertains to a system method for using depth sensors on the fore, aft and bottom sides of a legged robot for stair climbing. The method uses real-time depth information to help with a legged robot's navigation on a variety of leveled terrains. Sensing methods are employed in addition to generating a composite field of view stretching from the front to the back of the legged robot. Downward facing depth cameras positioned at a particular angle enable the system to guide a legged robot over an environment which is being navigated by offering a persistent view of the environment. Other tools such as heightmap filling gradient map calculation, and strategic foothold selection are also implemented.[French]
La présente invention concerne un procédé de système pour utiliser des capteurs de profondeur sur les côtés avant, arrière et inférieur d'un robot marcheur pour une montée d'escalier. Le procédé utilise des informations de profondeur en temps réel pour aider à la navigation d'un robot marcheur sur divers terrains nivelés. Des procédés de détection sont utilisés en plus de la génération d'un champ de vision composite s'étendant de l'avant à l'arrière du robot marcheur. Des caméras de profondeur orientées vers le bas positionnées selon un angle particulier permettent au système de guider un robot marcheur sur un environnement qui est parcouru en offrant une vue persistante de l'environnement. D'autres outils tels qu'un calcul de carte de gradient remplissant une carte de hauteur, et une sélection d'appui stratégique sont également mis en œuvre.