Yaw slip handling in a robotic device

摘要

An example method may include determining a requested yaw for a body of a robot, where the biped robot comprises a foot coupled to the body via a leg. The robot may then detect, via one or more sensors, a yaw rotation of the body with respect to a ground surface, where the foot is in contact with the ground surface. Based on the detected yaw rotation of the body, the robot may determine a measured yaw for the body. The robot may also determine a target yaw for the body, where the target yaw for the body is between the measured yaw for the body and the requested yaw for the body. The robot may then cause the foot to rotate the body to the target yaw for the body.

主权项

1. A method comprising:
determining a force allocation for a foot of a biped robot, wherein the biped robot further comprises a body coupled to the foot via a leg; determining a yaw rotation of the body with respect to a ground surface, wherein the foot is in contact with the ground surface; based on the determined yaw rotation of the body, updating the determined force allocation for the foot, wherein updating the determined force allocation for the foot comprises increasing at least one of (i) a forward shear force component for the foot or (ii) a lateral shear force component for the foot; and causing, by the biped robot, the foot to act on the ground surface based on the updated force allocation for the foot.