	US 11,660,752 C1 (12,890th)
	Perception and fitting for a stair tracker
Eric Cary Whitman, Arlington, MA (US); Gene Brown Merewether, Cambridge, MA (US); Gina Christine Fay, Waltham, MA (US); and Benjamin Swilling, Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Assigned to BOSTON DYNAMICS, INC., New Castle, DE (US)
Reexamination Request No. 90/019,361, Dec. 31, 2023.
Reexamination Certificate for Patent 11,660,752, issued May 30, 2023, Appl. No. 17/305,522, Jul. 9, 2021.
Application 90/019,361 is a continuation of application No. 17/157,500, filed on Jan. 25, 2021, granted, now 11,073,842.
Application 90/019,361 is a continuation of application No. 17/157,298, filed on Jan. 25, 2021, granted, now 11,123,869.
Application 17/157,500 is a continuation of application No. 16/877,721, filed on May 19, 2020, granted, now 11,599,128.
Application 17/157,298 is a continuation of application No. 16/382,390, filed on Apr. 12, 2019, granted, now 11,548,151.
Claims priority of provisional application 63/013,677, filed on Apr. 22, 2020.
Ex Parte Reexamination Certificate issued on Apr. 9, 2025.
Int. Cl. G06F 17/00 (2019.01); B25J 9/16 (2006.01); B62D 57/024 (2006.01); B62D 57/032 (2006.01)

CPC B25J 9/1666 (2013.01) [B62D 57/024 (2013.01); B62D 57/032 (2013.01)]

AS A RESULT OF REEXAMINATION, IT HAS BEEN DETERMINED THAT:

Claims 1-20 are cancelled.

1. A computer-implemented method when executed by data processing hardware of a robot causes the data processing hardware to perform operations comprising:
determining that the robot is proximate a descending set of stairs, the robot comprising a front body portion having at least one front leg and a rear body portion having at least one hind leg, the at least one hind leg comprising:
an upper member;

a hip joint coupling the upper member to the rear body portion;

a lower member; and

a knee joint coupling the lower member to the upper member;

instructing the robot to assume an initial stair descent pose by:
orienting the rear body portion to face the descending set of stairs; and

placing the at least one of the hind leg in a stance phase, the stance phase defined by the knee joint extending further outward from the rear body portion toward the descending set of stairs than the hip joint; and

~~instructing the robot to descend the descending set of stairs starting from the initial stair descent pose.~~