Natural Pitch and Roll

摘要

A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

主权项

1. A method comprising:
receiving, by a robot, a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to the robot, wherein the robot comprises a body and a plurality of jointed limbs connected to the body, and wherein the jointed limbs are associated with respective properties; receiving a body orientation measurement indicative of an orientation of the body of the robot; determining a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot; estimating an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship; and based on the estimated aggregate orientation of the robot, providing instructions to control at least one jointed limb of the robot.