Perception and fitting for a stair tracker
A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
1. A computer-implemented method when executed by data processing hardware of a robot causes the data processing hardware to perform operations comprising:
receiving image data from a vision system of the robot, the image data depicting that the robot is proximate to a staircase;
communicating the image data to a remote controller operated by a user of the robot, the remote controller configured to display the image data and a graphical user interface for activating a stair mode;
receiving, from the remote controller, a command to activate the stair mode of the robot; and
in response to receiving the command to activate the stair mode of the robot, causing the robot to traverse the staircase using one or more controllers dedicated to stair traversal by constraining a stride length corresponding to a distance that a respective swing leg of the robot travels from lift-off to touchdown as the robot traverses the staircase using the one or more controllers dedicated to stair traversal,
wherein the stair mode engages an obstacle avoidance protocol comprising
identifying an obstacle while traversing the staircase based on the received sensor data from the vision system; and
instructing the robot to move along an avoidance path avoiding the obstacle, the avoidance path maintaining a heading for the robot in a traversal direction either up or down the staircase.
2. The method of claim 1 , wherein the operations further comprise, selecting a respective controller of the one or more controllers dedicated to stair traversal, the respective controller comprising a gait cadence of one footstep per stair step.
3. The method of claim 1 , wherein the operations further comprise constraining a speed of travel for the robot as the robot traverses the staircase using the one or more controllers dedicated to stair traversal.
4. The method of claim 3 , wherein the constrained speed of travel for the robot is a function of a slope of the staircase.
5. The method of claim 1 , wherein the avoidance path is generally parallel to a boundary feature of the staircase.
6. The method of claim 1 , wherein, when the stair mode is activated, the operations further comprise constraining a respective leg of the robot from stepping up or stepping down more than one stair at a time relative to a contralateral leg of the respective leg.
7. The method of claim 1 , wherein, when the stair mode is activated and when the robot is traversing the staircase, the operations further comprise constraining a swing leg of the robot to lift over an edge of a respective stair of the staircase a threshold distance, the threshold distance corresponding to a minimum distance between an end portion of the swing leg nearest the edge of the respective stair and the edge of the respective stair.
8. A robot comprising:
a body
four legs coupled to the body and configured to traverse a set of stairs within an environment; and
a control system in communication with the robot, the control system comprising data processing hardware and memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:
receiving image data from a vision system of the robot, the image data depicting that the robot is proximate to a staircase:
communicating the image data to a remote controller operated by a user of the robot, the remote controller configured to display the image data and a graphical user interface for activating a stair mode;
receiving, from the remote controller, a command to activate the stair mode of the robot; and
in response to receiving the command to activate the stair mode of the robot, causing the robot to traverse the staircase using one or more controllers dedicated to stair traversal by constraining a stride length corresponding to a distance that a respective swing leg of the robot travels from lift-off to touchdown as the robot traverses the staircase using the one or more controllers dedicated to stair traversal,
wherein the stair mode engages an obstacle avoidance protocol comprising
identifying an obstacle while traversing the staircase based on the received sensor data from the vision system; and
instructing the robot to move along an avoidance path avoiding the obstacle, the avoidance path maintaining a heading for the robot in a traversal direction either up or down the staircase.
9. The robot of claim 8 , wherein the operations further comprise, selecting a respective controller of the one or more controllers dedicated to stair traversal, the respective controller comprising a gait cadence of one footstep per stair step.
10. The robot of claim 8 , wherein the operations further comprise constraining a speed of travel for the robot as the robot traverses the staircase using the one or more controllers dedicated to stair traversal.
11. The robot of claim 10 , wherein the constrained speed of travel for the robot is a function of a slope of the staircase.
12. The robot of claim 8 , wherein the avoidance path is generally parallel to a boundary feature of the staircase.
13. The robot of claim 8 , wherein, when the stair mode is activated, the operations further comprise constraining a respective leg of the robot from stepping up or stepping down more than one stair at a time relative to a contralateral leg of the respective leg.
14. The robot of claim 8 , wherein, when the stair mode is activated and when the robot is traversing the staircase, the operations further comprise constraining a swing leg of the robot to lift over an edge of a respective stair of the staircase a threshold distance, the threshold distance corresponding to a minimum distance between an end portion of the swing leg nearest the edge of the respective stair and the edge of the respective stair.
15. The robot of claim 8 , wherein each leg comprises:
an upper member; and
a lower member having a surface-engaging distal end and a proximal end opposite the surface-engaging distal end, the proximal end coupled to the upper member at a knee joint, and
wherein, when the surface-engaging end lifts-off from a surface, the lower member of the respective leg rotates counter-clockwise about the knee joint towards the upper member.