Abstract: The present invention regards a reflex algorithm for a legged robot upon detecting an unexpected contact in order to reach a desired touchdown location using a leg stub re-swing. The proprioceptive leg-stub re-swing algorithm is a two-phase algorithm that is particularly beneficial in environments with unstructured terrain and wherein vision sensors may be damaged upon contact with protruding obstacles.

Abstract: The present invention pertains to a system method for using depth sensors on the fore, aft and bottom sides of a legged robot for stair climbing. The method uses real-time depth information to help with a legged robot's navigation on a variety of leveled terrains. Sensing methods are employed in addition to generating a composite field of view stretching from the front to the back of the legged robot. Downward facing depth cameras positioned at a particular angle enable the system to guide a legged robot over an environment which is being navigated by offering a persistent view of the environment. Other tools such as heightmap filling gradient map calculation, and strategic foothold selection are also implemented.

Abstract: The present invention pertains to a method for a quadruped robot to navigate through granular media, such as deep sand and for providing improvements in the walking performance over various types of granular media. In particular, the present invention proposes reducing the assumed coefficient of friction about the ground, impacting the ground harder than nominal in the vertical direction at touchdown, and forcing a toe lift off into swing if a knee joint extends beyond a threshold stance to help increase the robustness of a quadruped robot's locomotive abilities on challenging terrains and provide an improvement in the field of biomechanics and robotic navigation.

Abstract: A robot control system may be configured to control a robot having a plurality of limbs. The robot control system may control the robot to crawl, to open a door, to bound and or to climb stairs.

Abstract: A method of controlling a motor may include receiving command data indicating only a desired torque and/or force for the motor and including no torque and/or force or current feedback data from the motor. Based on the command data and at least one motor characteristic and no separate torque and/or force or current feedback data, a voltage signal corresponding to a desired motor current to produce the desired torque and/or force may be generated. A control signal configured to provide the motor with the desired motor current may be generated using only the voltage signal as an input. The motor may be controlled by inputting the control signal to the motor, and the inputting may cause the motor to output substantially the desired torque and/or force.