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Methods for robotic self-righting

Patent image
ARL

Embodiments of the present invention are directed to methods of autonomously self-righting a maneuverable robot. In one embodiment, an autonomous method for self-righting a maneuverable robot to affect recovery from an overturned state to its nominal upright configuration may include: defining a convex hull and center of mass of each link of the robot; determining the convex hull and overall robot center of mass for each joint configuration of the robot; analyzing each convex hull face to determine its stability or instability; grouping continuously stable orientations of the robot and joint configurations together defining nodes and transitions there between; assigning a cost to transitions between nodes; computing an overall cost for each potential set of transition costs resulting in achievement of the goal; and determining a sequence of one or more actions to self-right the robot such that the sequence of actions minimizes the overall cost of self-righting the robot.

Inventors: 
Kessens, Chad C.; Smith, Daniel C.
Patent Number: 
Technical domain: 
Control Systems
FIle Date: 
2013-03-15
Grant Date: 
2015-03-10
Grant time: 
725 days
Grant time percentile rank: 
13
Claim count percentile rank: 
6
Citations percentile rank: 
1
'Cited by' percentile rank: 
1
Assignee: 
US ARMY