DETAILED ACTION
Claim Rejections - 35 USC § 112
The following is a quotation of the first paragraph of 35 U.S.C. 112(a):
(a) IN GENERAL.—The specification shall contain a written description of the invention, and of the manner and process of making and using it, in such full, clear, concise, and exact terms as to enable any person skilled in the art to which it pertains, or with which it is most nearly connected, to make and use the same, and shall set forth the best mode contemplated by the inventor or joint inventor of carrying out the invention.
The following is a quotation of the first paragraph of pre-AIA 35 U.S.C. 112:
The specification shall contain a written description of the invention, and of the manner and process of making and using it, in such full, clear, concise, and exact terms as to enable any person skilled in the art to which it pertains, or with which it is most nearly connected, to make and use the same, and shall set forth the best mode contemplated by the inventor of carrying out his invention.
Claims 2, 3, 16, and 17 are rejected under 35 U.S.C. 112(a) or 35 U.S.C. 112 (pre-AIA ), first paragraph, as failing to comply with the written description requirement. The claim(s) contains subject matter which was not described in the specification in such a way as to reasonably convey to one skilled in the relevant art that the inventor or a joint inventor, or for applications subject to pre-AIA 35 U.S.C. 112, the inventor(s), at the time the application was filed, had possession of the claimed invention.
Regarding claims 2 and 16, the specification fails to adequately disclose how any of the sensor types listed, either as the first, second or both sensors in any combination, can be used to perform the method of claims 1 or 15, respectively. The specification merely lists these types of sensors are being capable of being installed in the robot, but fails to disclose, to the same level of detail as was disclosed for using a pressure sensor in combination with a force sensor, how one would perform the method of claims 1 or 16, respectively, using the sensors listed in claim 2.
Regarding claims 3 and 17, the specification fails to adequately disclose how any of the sensor types listed, either as the first, second or both sensors in any combination, can be used to perform the method of claims 1 and 15, respectively. The specification merely lists these types of sensors are being capable of being installed in the robot, but fails to disclose, to the same level of detail as was disclosed for using a pressure sensor in combination with a force sensor, how one would perform the method of claims 1 and 15, respectively using the sensors listed in claim 3.
The following is a quotation of 35 U.S.C. 112(b):
(b) CONCLUSION.—The specification shall conclude with one or more claims particularly pointing out and distinctly claiming the subject matter which the inventor or a joint inventor regards as the invention.
The following is a quotation of 35 U.S.C. 112 (pre-AIA ), second paragraph:
The specification shall conclude with one or more claims particularly pointing out and distinctly claiming the subject matter which the applicant regards as his invention.
Claims 2, 3, 16, and 17 are rejected under 35 U.S.C. 112(b) or 35 U.S.C. 112 (pre-AIA ), second paragraph, as being indefinite for failing to particularly point out and distinctly claim the subject matter which the inventor or a joint inventor (or for applications subject to pre-AIA 35 U.S.C. 112, the applicant), regards as the invention.
Regarding claims 2, 3, 16, and 17, the lack of adequate written description of how to perform the method of claims 2, 3, 16, and 17 leads to the claims being indefinite, as one cannot determine the scope of the invention being claimed.
Double Patenting
The nonstatutory double patenting rejection is based on a judicially created doctrine grounded in public policy (a policy reflected in the statute) so as to prevent the unjustified or improper timewise extension of the “right to exclude” granted by a patent and to prevent possible harassment by multiple assignees. A nonstatutory double patenting rejection is appropriate where the conflicting claims are not identical, but at least one examined application claim is not patentably distinct from the reference claim(s) because the examined application claim is either anticipated by, or would have been obvious over, the reference claim(s). See, e.g., In re Berg, 140 F.3d 1428, 46 USPQ2d 1226 (Fed. Cir. 1998); In re Goodman, 11 F.3d 1046, 29 USPQ2d 2010 (Fed. Cir. 1993); In re Longi, 759 F.2d 887, 225 USPQ 645 (Fed. Cir. 1985); In re Van Ornum, 686 F.2d 937, 214 USPQ 761 (CCPA 1982); In re Vogel, 422 F.2d 438, 164 USPQ 619 (CCPA 1970); In re Thorington, 418 F.2d 528, 163 USPQ 644 (CCPA 1969).
A timely filed terminal disclaimer in compliance with 37 CFR 1.321(c) or 1.321(d) may be used to overcome an actual or provisional rejection based on nonstatutory double patenting provided the reference application or patent either is shown to be commonly owned with the examined application, or claims an invention made as a result of activities undertaken within the scope of a joint research agreement. See MPEP § 717.02 for applications subject to examination under the first inventor to file provisions of the AIA as explained in MPEP § 2159. See MPEP § 2146 et seq. for applications not subject to examination under the first inventor to file provisions of the AIA . A terminal disclaimer must be signed in compliance with 37 CFR 1.321(b).
The filing of a terminal disclaimer by itself is not a complete reply to a nonstatutory double patenting (NSDP) rejection. A complete reply requires that the terminal disclaimer be accompanied by a reply requesting reconsideration of the prior Office action. Even where the NSDP rejection is provisional the reply must be complete. See MPEP § 804, subsection I.B.1. For a reply to a non-final Office action, see 37 CFR 1.111(a). For a reply to final Office action, see 37 CFR 1.113(c). A request for reconsideration while not provided for in 37 CFR 1.113(c) may be filed after final for consideration. See MPEP §§ 706.07(e) and 714.13.
The USPTO Internet website contains terminal disclaimer forms which may be used. Please visit www.uspto.gov/patent/patents-forms. The actual filing date of the application in which the form is filed determines what form (e.g., PTO/SB/25, PTO/SB/26, PTO/AIA /25, or PTO/AIA /26) should be used. A web-based eTerminal Disclaimer may be filled out completely online using web-screens. An eTerminal Disclaimer that meets all requirements is auto-processed and approved immediately upon submission. For more information about eTerminal Disclaimers, refer to www.uspto.gov/patents/apply/applying-online/eterminal-disclaimer.
Claims 1, 4-6, 14, 15, 18, and 19 are rejected on the ground of nonstatutory double patenting as being unpatentable over claims 1, 6, and 12 of U.S. Patent No. 11,911,892 B2. Although the claims at issue are not identical, they are not patentably distinct from each other because the claims of ‘892 anticipate the claims, as set forth in the table below.
Cl.
18/420,175
Cl.
11,911,892 B2 - (17/453,187)
1
A computer implemented method comprising
1
A computer implemented method comprising
receiving, at data processing hardware of a legged robot, a first input from a first sensor of the legged robot
receiving, at data processing hardware of a legged robot, a first input from a first sensor of a limb of the legged robot, the first sensor configured to measure a magnitude of pressure in a bladder of fluid;
receiving, at the data processing hardware, a second input from a second sensor of the legged robot
receiving, at the data processing hardware, a second input from a second sensor of the limb;
determining, by the data processing hardware, a touch-down of a first end component of a first limb of the legged robot against a first surface in an environment of the legged robot based on the first input and the second input; and
determining, by the data processing hardware, a comparison of the first input to a threshold; determining, by the data processing hardware, a touch-down of an end component of the limb against a surface in an environment of the legged robot based on both: the comparison of the first input to the threshold, and the second input; and
providing, by the data processing hardware, an output indicating the touch-down.
providing, by the data processing hardware, an output indicating the touch-down.
4
wherein the first sensor comprises a pressure sensor, and wherein the second sensor comprises a force sensor.
1
the first sensor configured to measure a magnitude of pressure in a bladder of fluid
6
wherein the second sensor comprises a force sensor
5
wherein the first sensor and the second sensor are different types of sensors.
1
the first sensor configured to measure a magnitude of pressure in a bladder of fluid
6
wherein the second sensor comprises a force sensor
6
wherein at least one of the first sensor or the second sensor is located in the first end component or the first limb
6
wherein the second sensor comprises a force sensor configured to determine a force experienced at the limb
14
instructing navigation of the legged robot within the environment based on the first input and the second input
1
determining, by the data processing hardware, a touch-down of an end component of the limb against a surface in an environment of the legged robot
15
A robot comprising:
12
A robotic device comprising:
at least two legs;
one or more limbs, each limb comprising a respective end component;
data processing hardware in communication with the first sensor and the second sensor; and
memory hardware in communication with the data processing hardware, the memory hardware storing instructions, wherein execution of the instructions by the data processing hardware causes the data processing hardware to:
a computing system; and memory hardware in communication with the computing system, the memory hardware storing instructions that when executed cause the computing system to perform operations comprising:
a first sensor and a second sensor; receive a first input from the first sensor;
receiving a first input from a first sensor of a limb of the one or more limbs, the first sensor configured to measure a magnitude of pressure in a bladder of fluid;
receive a second input from the second sensor;
receiving a second input from a second sensor of the limb;
determine a touch-down of an end component of a leg of the at least two legs against a surface in an environment of the robot based on the first input and the second input; and
determining a comparison of the first input to a threshold; determining a touch-down of an end component of the limb against a surface in an environment of the robotic device based on both: the comparison of the first input to the threshold, and the second input; and
provide an output indicating the touch-down.
providing an output indicating the touch-down.
18
wherein the execution of the instructions by the data processing hardware further causes the data processing hardware to:
determine a force based on at least one of the first input or the second input,
wherein to determine the touch-down, the execution of the instructions by the data processing hardware further causes the data processing hardware to:
compare the force to a threshold; and
determine the touch-down further based on comparing the force to the threshold.
determining a comparison of the first input to a threshold; determining a touch-down of an end component of the limb against a surface in an environment of the robotic device based on both: the comparison of the first input to the threshold, and the second input
19
A computing system comprising:
12
A robotic device comprising:
data processing hardware; and memory hardware in communication with the data processing hardware, the memory hardware storing instructions, wherein execution of the instructions by the data processing hardware causes the data processing hardware to:
a computing system; and memory hardware in communication with the computing system, the memory hardware storing instructions that when executed cause the computing system to perform operations comprising:
receive a first input from a first sensor of a legged robot;
receiving a first input from a first sensor of a limb of the one or more limbs, the first sensor configured to measure a magnitude of pressure in a bladder of fluid;
receive a second input from a second sensor of the legged robot;
receiving a second input from a second sensor of the limb; determining a comparison of the first input to a threshold;
determine a touch-down of an end component of a limb of the legged robot against a surface in an environment of the legged robot based on the first input and the second input; and
determining a touch-down of an end component of the limb against a surface in an environment of the robotic device based on both: the comparison of the first input to the threshold, and the second input; and
provide an output indicating the touch-down.
providing an output indicating the touch-down.
Claims 1, 5, 6, 14, 15, 18, and 19 are rejected on the ground of nonstatutory double patenting as being unpatentable over claims 1, 3, and 11 of U.S. Patent No. 11,192,261 B2. Although the claims at issue are not identical, they are not patentably distinct from each other because the claims of ‘261 anticipate the claims, as set forth in the table below.
Cl.
18/420,175
Cl.
11,192,261 B2 - (16/250,458)
1
A computer implemented method comprising:
1
A method comprising:
receiving, at data processing hardware of a legged robot, a first input from a first sensor of the legged robot;
receiving, at a computing system of a robotic device, information indicating an estimated distance between an end component of a limb of the robotic device and a portion of an environment about the robotic device; and
receiving, at the data processing hardware, a second input from a second sensor of the legged robot;
in response to receiving a force signal corresponding to a force experienced by the limb of the robotic device,
determining, by the data processing hardware, a touch-down of a first end component of a first limb of the legged robot against a first surface in an environment of the legged robot based on the first input and the second input; and
determining, by the computing system of the robotic device, a force threshold indicative of a touch-down event based on the estimated distance between the end component of the limb and the portion of the environment, the touch-down event corresponding to touch-down of the end component of the limb with the portion of the environment;
providing, by the data processing hardware, an output indicating the touch-down.
using, by the computing system of the robotic device, the force threshold indicative of the touch-down event to evaluate whether the received force signal corresponds to a respective touch-down event.
5
wherein the first sensor and the second sensor are different types of sensors.
1
in response to receiving a force signal corresponding to a force experienced by the limb of the robotic device,
3
wherein the sensor comprises a camera coupled to a motorized mount
6
wherein at least one of the first sensor or the second sensor is located in the first end component or the first limb
1
in response to receiving a force signal corresponding to a force experienced by the limb of the robotic device
14
instructing navigation of the legged robot within the environment based on the first input and the second input
1
determining… a touch-down event based on the estimated distance between the end component of the limb and the portion of the environment
15
A robot comprising:
11
A robotic device comprising:
at least two legs;
one or more limbs, each limb comprising a respective end component, the respective end component configured to contact an environment;
data processing hardware in communication with the first sensor and the second sensor; and
memory hardware in communication with the data processing hardware, the memory hardware storing instructions, wherein execution of the instructions by the data processing hardware causes the data processing hardware to:
a computing system; and memory hardware in communication with the computing system, the memory hardware storing instructions that when executed cause the computing system to perform operations comprising:
a first sensor and a second sensor; receive a first input from the first sensor;
receiving information indicating an estimated distance between the respective end component of a limb and a portion of the environment;
receive a second input from the second sensor;
in response to receiving a force signal corresponding to a force experienced by the limb,
determine a touch-down of an end component of a leg of the at least two legs against a surface in an environment of the robot based on the first input and the second input; and
determining a force threshold indicative of a touch-down event based on the estimated distance between the respective end component of the limb and the portion of the environment, the touch-down event corresponding to touch-down of the respective end component of the limb with the portion of the environment;
provide an output indicating the touch-down.
and using the force threshold indicative of the touch-down event to evaluate whether the received force signal corresponds to a respective touch-down event.
18
wherein the execution of the instructions by the data processing hardware further causes the data processing hardware to:
determine a force based on at least one of the first input or the second input,
wherein to determine the touch-down, the execution of the instructions by the data processing hardware further causes the data processing hardware to:
compare the force to a threshold; and
determine the touch-down further based on comparing the force to the threshold.
1
determining, by the computing system of the robotic device, a force threshold indicative of a touch-down event based on the estimated distance between the end component of the limb and the portion of the environment, the touch-down event corresponding to touch-down of the end component of the limb with the portion of the environment; using, by the computing system of the robotic device, the force threshold indicative of the touch-down event to evaluate whether the received force signal corresponds to a respective touch-down event.
19
A computing system comprising:
11
A robotic device comprising:
data processing hardware; and memory hardware in communication with the data processing hardware, the memory hardware storing instructions, wherein execution of the instructions by the data processing hardware causes the data processing hardware to:
a computing system; and memory hardware in communication with the computing system, the memory hardware storing instructions that when executed cause the computing system to perform operations comprising:
receive a first input from a first sensor of a legged robot;
receiving information indicating an estimated distance between the respective end component of a limb and a portion of the environment;
receive a second input from a second sensor of the legged robot;
in response to receiving a force signal corresponding to a force experienced by the limb,
provide an output indicating the touch-down.
determining a force threshold indicative of a touch-down event based on the estimated distance between the respective end component of the limb and the portion of the environment, the touch-down event corresponding to touch-down of the respective end component of the limb with the portion of the environment; and using the force threshold indicative of the touch-down event to evaluate whether the received force signal corresponds to a respective touch-down event.
Claims 1, 4-6, 8, 9, 14, 15, 18, and 19 are rejected on the ground of nonstatutory double patenting as being unpatentable over claims 1, 9, and 10 of U.S. Patent No. 10,220,518 B2. Although the claims at issue are not identical, they are not patentably distinct from each other because the claims of ‘518 anticipate the claims, as set forth in the table below.
Cl.
18/420,175
Cl.
10,220,518 B2 - (15/296,094)
1
A computer implemented method comprising:
1
A method comprising:
receiving, at data processing hardware of a legged robot, a first input from a first sensor of the legged robot;
receiving, at a computing system of a robotic device, a force signal due to a force experienced at a limb of the robotic device due to an end component of the limb contacting an element in an environment;
receiving, at the data processing hardware, a second input from a second sensor of the legged robot;
receiving, at the computing system of the robotic device, an output signal from a sensor of the end component of the limb, wherein the sensor is provided at a sole of the end component and the output signal is based on a detected pressure at the sole;
determining, by the data processing hardware, a touch-down of a first end component of a first limb of the legged robot against a first surface in an environment of the legged robot based on the first input and the second input; and
determining whether the force signal satisfies a first threshold; determining whether the output signal satisfies a second threshold, wherein the second threshold is lower than the first threshold;
providing, by the data processing hardware, an output indicating the touch-down.
and based on at least one of the force signal satisfying the first threshold or the output signal satisfying the second threshold, providing by the computing system of the robotic device, a touch-down output indicating touch-down of the end component of the limb with a portion of the environment.
4
wherein the first sensor comprises a pressure sensor, and wherein the second sensor comprises a force sensor.
1
the output signal is based on a detected pressure at the sole; a force signal due to a force experienced at a limb of the robotic device
5
wherein the first sensor and the second sensor are different types of sensors.
1
the output signal is based on a detected pressure at the sole; a force signal due to a force experienced at a limb of the robotic device
6
wherein at least one of the first sensor or the second sensor is located in the first end component or the first limb
1
a force signal due to a force experienced at a limb of the robotic device
8
wherein determining the touch-down is further based on comparing the first input to a first threshold and the second input to a second threshold
1
determining whether the force signal satisfies a first threshold; determining whether the output signal satisfies a second threshold, wherein the second threshold is lower than the first threshold
9
determining a touch-down of a second end component of a second limb of the legged robot against a second surface in the environment based on the first input and the second input.
9
wherein the robotic device comprises a biped robotic device
14
instructing navigation of the legged robot within the environment based on the first input and the second input
1
a touch-down output indicating touch-down of the end component of the limb with a portion of the environment
15
A robot comprising: at least two legs;
10
A method comprising: determining, at a computing system of a robotic device,
data processing hardware in communication with the first sensor and the second sensor; and
memory hardware in communication with the data processing hardware, the memory hardware storing instructions, wherein execution of the instructions by the data processing hardware causes the data processing hardware to:
the computing system of the robotic device, providing, at the computing system of the robotic device, a combined force signal based on a combination of the end component force signal and the output signal;
a first sensor; receive a first input from the first sensor;
an end component force signal based on a force provided by an actuator of the robotic device and applied to a limb of the robotic device, wherein the limb comprises a first member and a second member that are coupled to a joint of the robotic device;
a second sensor; receive a second input from the second sensor;
receiving, at an output signal from a pressure sensor provided on the limb of the robotic device, wherein the pressure sensor is coupled to a tube comprising a fluid and the output signal corresponds to a force applied to the tube due to an end component of the limb contacting an element in an environment, wherein the tube is provided on a sole of the end component of the limb of the robotic device;
determine a touch-down of an end component of a leg of the at least two legs against a surface in an environment of the robot based on the first input and the second input; and
determining, at the computing system of the robotic device, whether the combined force signal satisfies a threshold;
provide an output indicating the touch-down.
and based on the combined force signal satisfying the threshold, providing by the computing system of the robotic device, a touch-down output indicating touch-down of the end component of the limb with a portion of the environment.
18
wherein the execution of the instructions by the data processing hardware further causes the data processing hardware to:
determine a force based on at least one of the first input or the second input,
wherein to determine the touch-down, the execution of the instructions by the data processing hardware further causes the data processing hardware to:
compare the force to a threshold; and
determine the touch-down further based on comparing the force to the threshold.
10
determining, at the computing system of the robotic device, whether the combined force signal satisfies a threshold; and based on the combined force signal satisfying the threshold, providing by the computing system of the robotic device, a touch-down output indicating touch-down of the end component of the limb with a portion of the environment.
19
A computing system comprising:
10
a computing system of a robotic device,
data processing hardware; and memory hardware in communication with the data processing hardware, the memory hardware storing instructions, wherein execution of the instructions by the data processing hardware causes the data processing hardware to:
a computing system of a robotic device,
receive a first input from a first sensor of a legged robot;
an end component force signal based on a force provided by an actuator of the robotic device and applied to a limb of the robotic device, wherein the limb comprises a first member and a second member that are coupled to a joint of the robotic device;
receive a second input from a second sensor of the legged robot;
receiving, at an output signal from a pressure sensor provided on the limb of the robotic device, wherein the pressure sensor is coupled to a tube comprising a fluid and the output signal corresponds to a force applied to the tube due to an end component of the limb contacting an element in an environment, wherein the tube is provided on a sole of the end component of the limb of the robotic device;
determine a touch-down of an end component of a limb of the legged robot against a surface in an environment of the legged robot based on the first input and the second input; and
determining, at the computing system of the robotic device, whether the combined force signal satisfies a threshold;
provide an output indicating the touch-down.
and based on the combined force signal satisfying the threshold, providing by the computing system of the robotic device, a touch-down output indicating touch-down of the end component of the limb with a portion of the environment.
Claims 1, 4-6, 8, 9, 13-15, 18, and 19 are rejected on the ground of nonstatutory double patenting as being unpatentable over claims 1, 9, and 10 of U.S. Patent No. 9,499,219 B1. Although the claims at issue are not identical, they are not patentably distinct from each other because the claims of ‘219 anticipate the claims, as set forth in the table below.
Cl.
18/420,175
Cl.
9,499,219 B2 - (14/605,616)
1
A computer implemented method comprising:
1
A method comprising:
receiving, at data processing hardware of a legged robot, a first input from a first sensor of the legged robot;
receiving, at a computing system of a robotic device, a force signal due to a force experienced at a limb of the robotic device due to an end component of the limb contacting an element in an environment;
receiving, at the data processing hardware, a second input from a second sensor of the legged robot;
receiving, at the computing system of the robotic device, an output signal from a sensor of the end component of the limb, wherein the sensor is provided at a sole of the end component and the output signal is based on a detected pressure at the sole;
determining, by the data processing hardware, a touch-down of a first end component of a first limb of the legged robot against a first surface in an environment of the legged robot based on the first input and the second input; and
determining, at the computing system of the robotic device, an operational state of the limb of the robotic device; modifying, at the computing system of the robotic device, the force signal based on the operational state of the limb of the robotic device; determining whether the modified force signal satisfies a first threshold; determining whether the output signal satisfies a second threshold, wherein the second threshold is lower than the first threshold;
providing, by the data processing hardware, an output indicating the touch-down.
and based on at least one of the modified force signal satisfying the first threshold or the output signal satisfying the second threshold, providing by the computing system of the robotic device, a touch-down output indicating touch-down of the end component of the limb with a portion of the environment.
4
wherein the first sensor comprises a pressure sensor, and wherein the second sensor comprises a force sensor.
1
wherein the sensor is provided at a sole of the end component and the output signal is based on a detected pressure at the sole; a force signal due to a force experienced at a limb of the robotic device
5
wherein the first sensor and the second sensor are different types of sensors.
1
wherein the sensor is provided at a sole of the end component and the output signal is based on a detected pressure at the sole; a force signal due to a force experienced at a limb of the robotic device
6
wherein at least one of the first sensor or the second sensor is located in the first end component or the first limb
1
a force signal due to a force experienced at a limb of the robotic device
8
wherein determining the touch-down is further based on comparing the first input to a first threshold and the second input to a second threshold
1
determining, at the computing system of the robotic device, an operational state of the limb of the robotic device; modifying, at the computing system of the robotic device, the force signal based on the operational state of the limb of the robotic device; determining whether the modified force signal satisfies a first threshold; determining whether the output signal satisfies a second threshold, wherein the second threshold is lower than the first threshold
9
determining a touch-down of a second end component of a second limb of the legged robot against a second surface in the environment based on the first input and the second input
9
wherein the robotic device comprises a biped robotic device
13
wherein the output comprises a first output, the computer implemented method further comprising:
determining an operational state of the legged robot based on the first input and the second input; and
providing a second output indicating the operational state.
1
modifying, at the computing system of the robotic device, the force signal based on the operational state of the limb of the robotic device
14
instructing navigation of the legged robot within the environment based on the first input and the second input
1
receiving, at a computing system of a robotic device, a force signal due to a force experienced at a limb of the robotic device due to an end component of the limb contacting an element in an environment;
15
A robot comprising: at least two legs;
10
A method comprising: a robotic device
data processing hardware in communication with the first sensor and the second sensor; and
memory hardware in communication with the data processing hardware, the memory hardware storing instructions, wherein execution of the instructions by the data processing hardware causes the data processing hardware to:
determining, at a computing system of a robotic device,
a first sensor and a second sensor; receive a first input from the first sensor;
an end component force signal based on a force provided by an actuator of the robotic device and applied to a limb of the robotic device, wherein the limb comprises a first member and a second member that are coupled to a joint of the robotic device;
receive a second input from the second sensor;
receiving, at the computing system of the robotic device, an output signal from a pressure sensor provided on the limb of the robotic device, wherein the pressure sensor is coupled to a tube comprising a fluid and the output signal corresponds to a force applied to the tube due to an end component of the limb contacting an element in an environment, wherein the tube is provided on a sole of the end component of the limb of the robotic device;
determine a touch-down of an end component of a leg of the at least two legs against a surface in an environment of the robot based on the first input and the second input; and
determining, at the computing system of the robotic device, a relative position of the first member to the second member at the joint of the robotic device; modifying, at the computing system of the robotic device, the end component force signal according to the relative position of the first member to the second member at the joint of the robotic device; providing, at the computing system of the robotic device, a combined force signal based on a combination of the modified end component force signal and the output signal; determining, at the computing system of the robotic device, whether the combined force signal satisfies a threshold;
provide an output indicating the touch-down.
and based on the combined force signal satisfying the threshold, providing by the computing system of the robotic device, a touch-down output indicating touch-down of the end component of the limb with a portion of the environment.
18
wherein the execution of the instructions by the data processing hardware further causes the data processing hardware to:
determine a force based on at least one of the first input or the second input,
wherein to determine the touch-down, the execution of the instructions by the data processing hardware further causes the data processing hardware to:
compare the force to a threshold; and
determine the touch-down further based on comparing the force to the threshold.
10
determining, at the computing system of the robotic device, a relative position of the first member to the second member at the joint of the robotic device; modifying, at the computing system of the robotic device, the end component force signal according to the relative position of the first member to the second member at the joint of the robotic device; providing, at the computing system of the robotic device, a combined force signal based on a combination of the modified end component force signal and the output signal; determining, at the computing system of the robotic device, whether the combined force signal satisfies a threshold; and based on the combined force signal satisfying the threshold, providing by the computing system of the robotic device, a touch-down output indicating touch-down of the end component of the limb with a portion of the environment.
19
A computing system comprising:
10
determining, at a computing system of a robotic device,
data processing hardware; and memory hardware in communication with the data processing hardware, the memory hardware storing instructions, wherein execution of the instructions by the data processing hardware causes the data processing hardware to:
determining, at a computing system of a robotic device,
receive a first input from a first sensor of a legged robot;
an end component force signal based on a force provided by an actuator of the robotic device and applied to a limb of the robotic device, wherein the limb comprises a first member and a second member that are coupled to a joint of the robotic device;
receive a second input from a second sensor of the legged robot;
receiving, at the computing system of the robotic device, an output signal from a pressure sensor provided on the limb of the robotic device, wherein the pressure sensor is coupled to a tube comprising a fluid and the output signal corresponds to a force applied to the tube due to an end component of the limb contacting an element in an environment, wherein the tube is provided on a sole of the end component of the limb of the robotic device;
determine a touch-down of an end component of a limb of the legged robot against a surface in an environment of the legged robot based on the first input and the second input; and
determining, at the computing system of the robotic device, a relative position of the first member to the second member at the joint of the robotic device; modifying, at the computing system of the robotic device, the end component force signal according to the relative position of the first member to the second member at the joint of the robotic device; providing, at the computing system of the robotic device, a combined force signal based on a combination of the modified end component force signal and the output signal; determining, at the computing system of the robotic device, whether the combined force signal satisfies a threshold;
provide an output indicating the touch-down.
and based on the combined force signal satisfying the threshold, providing by the computing system of the robotic device, a touch-down output indicating touch-down of the end component of the limb with a portion of the environment.
Allowable Subject Matter
Claims 7, 10-12, and 20 are objected to as being dependent upon a rejected base claim, but would be allowable if rewritten in independent form including all of the limitations of the base claim and any intervening claims.
Conclusion
The prior art made of record and not relied upon is considered pertinent to applicant's disclosure.
US 20110172817 A1 discloses a walking robot which controls balance using an ankle when the robot walks, and a method of controlling balance thereof. In a method of determining an angle of an ankle joint without solving a complicated dynamic equation such that the robot stays balanced so as not to fall, an angle of the ground is fixed as a reference angle for balance control of the robot such that the robot stably walks while maintaining the same balance control performance even when the ground is inclined. When the robot moves slowly or quickly, the robot may maintain balance. Since the robot stays balanced using the ankle of a stance leg even when the ground is inclined, the method is simple and is applied to a robot having joints with 6 degrees of freedom.
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/LEO T HINZE/
Patent Examiner
AU 2853
30 May 2026
/STEPHEN D MEIER/ Supervisory Patent Examiner, Art Unit 2853
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