{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9623568","patent":{"patent_number":"US-9623568","title":"Yaw slip handling in a robotic device","assignee":null,"inventors":[],"filing_date":"2016-05-03T00:00:00.000Z","publication_date":"2017-04-18T00:00:00.000Z","cpc_codes":["B25J","B25J","B25J","B62D","G01C","G05D"],"num_claims":20,"abstract":"An example method may include determining a requested yaw for a body of a robot, where the biped robot comprises a foot coupled to the body via a leg. The robot may then detect, via one or more sensors, a yaw rotation of the body with respect to a ground surface, where the foot is in contact with the ground surface. Based on the detected yaw rotation of the body, the robot may determine a measured yaw for the body. The robot may also determine a target yaw for the body, where the target yaw for the body is between the measured yaw for the body and the requested yaw for the body. The robot may then cause the foot to rotate the body to the target yaw for the body."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Yaw slip handling in a robotic device","description":"An example method may include determining a requested yaw for a body of a robot, where the biped robot comprises a foot coupled to the body via a leg. The robot may then detect, via one or more sensor","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9623568","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-9623568","citation_suggestion":"Patentable. \"Yaw slip handling in a robotic device\" (US-9623568). https://patentable.app/patents/US-9623568","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9623568","json":"https://patentable.app/api/llm-context/US-9623568","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T07:18:37.932Z"}