{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9663165","patent":{"patent_number":"US-9663165","title":"Slip avoidance","assignee":null,"inventors":[],"filing_date":"2016-06-03T00:00:00.000Z","publication_date":"2017-05-30T00:00:00.000Z","cpc_codes":["B62D","B25J","B25J","G05B"],"num_claims":20,"abstract":"A method may include i) determining, by a robot having at least one foot, a representation of a coefficient of friction between the foot and a ground surface; ii) determining, by the robot, a representation of a gradient of the ground surface; iii) based on the determined representations of the coefficient of friction and the gradient, determining a threshold orientation for a target ground reaction force on the foot of the robot during a step; iv) determining the target ground reaction force, where the target ground reaction force comprises a magnitude and an orientation; v) determining an adjusted ground reaction force by adjusting the orientation of the target ground reaction force to be within the determined threshold orientation; and vi) causing the foot of the robot to apply a force on the ground surface equal to and opposing the adjusted ground reaction force during the step."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Slip avoidance","description":"A method may include i) determining, by a robot having at least one foot, a representation of a coefficient of friction between the foot and a ground surface; ii) determining, by the robot, a represen","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9663165","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-9663165","citation_suggestion":"Patentable. \"Slip avoidance\" (US-9663165). https://patentable.app/patents/US-9663165","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9663165","json":"https://patentable.app/api/llm-context/US-9663165","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T06:25:35.387Z"}