Methods for robotic self-rightingSubmitted by Admin on Tue, 03/10/2015 - 06:00
Patent Number: US8977485
Inventors: Kessens, Chad C.; Smith, Daniel C.
Patent Principal Area: Robotics
Publish/ Grant Date: Tuesday, March 10, 2015
Abstract: 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.