Abstract: A legged robot having a frame with a plurality of links in mechanical communication with plurality of brackets, the frame forming a front, back, top, bottom, and sides, legs in mechanical communication with one or more of the plurality of brackets, each leg having a knee motor, an abduction motor, and a hip motor, a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs, and a power module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs and the computer module.

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: A legged robot having a frame with a plurality of links in mechanical communication with plurality of brackets, the frame forming a front, back, top, bottom, and sides, legs in mechanical communication with one or more of the plurality of brackets, each leg having a knee motor, an abduction motor, and a hip motor, a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs, and a power module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs and the computer module.

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.