Slip detection using robotic limbs

摘要

An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.

主权项

1. A method comprising:
determining, by a robot comprising a set of sensors, based on first data received from the set of sensors, a first distance between a pair of feet of the robot at a first time, wherein the pair of feet is in contact with a ground surface; determining, by the robot, based on second data received from the set of sensors, a second distance between the pair of feet of the robot at a second time, wherein the pair of feet remains in contact with the ground surface from the first time to the second time; comparing a difference between the determined first and second distances to a threshold difference; determining that the difference between the determined first distance between the pair of feet and the determined second distance between the pair of feet exceeds the threshold difference; and based on the determination that the difference between the determined first distance between the pair of feet and the determined second distance between the pair of feet exceeds the threshold difference, causing the robot to react, wherein causing the robot to react comprises causing a third foot, which is not in contact with the ground surface, to make contact with the ground surface.