Ground plane compensation for legged robots

摘要

An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) determining, for a particular topographical feature of the environment in a direction of travel of the robotic device, a height of the particular topographical feature and a distance between the robotic device and the particular topographical feature, (iii) estimating a ground plane extending from the robotic device in the direction of travel toward the particular topographical feature, the ground plane fitting to the determined distance and height, (iv) determining a grade of the estimated ground plane, and (v) directing the robotic device to adjust pitch in proportion to the determined grade.

主权项

1. A control system comprising:
one or more processors; a non-transitory computer readable medium; and program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to:
receive sensor data that indicates topographical features of an environment in which a robot is operating, wherein the robot has a torso;determine, for a particular topographical feature of the environment in a direction of travel of the robot, a height of the particular topographical feature and a distance between the robot and the particular topographical feature;estimate a ground plane extending from the robot in the direction of travel toward the particular topographical feature, the ground plane fitting to the determined distance and height;determine a grade of the estimated ground plane; andcontrol actuators of the robot so as to cause the robot to pitch the torso based on the grade of the estimated ground plane.