Handling gait disturbances with asynchronous timing

摘要

An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.

主权项

1. A method comprising:
detecting a disturbance to a gait of a robot, wherein the gait comprises a swing state and a step down state, the swing state comprising a target swing trajectory for a first foot of the robot during a step, and wherein the target swing trajectory during the step comprises a beginning at a first time, and an end at a second time; based on the detected disturbance, causing the first foot of the robot to leave the swing state and enter the step down state before the second time; after causing the first foot to enter the step down state before the second time, causing the first foot to make contact with a ground surface; and based on the first foot making contact with the ground surface, causing a second foot to lift off of the ground surface.