# US 12,365,407 (USPTO)

Planning mechanically-timed footstep patterns for a legged robot, detecting gait disturbances/obstacles, and updating footsteps to return toward a target trajectory.

## Key facts

- Jurisdiction: uspto
- Status: granted
- Number: US 12,365,407
- Filing date: 2023-04-12
- Grant date: 2025-07-22
- Verification posture: verified

## Parties (1)

- **assignee**: [Boston Dynamics](/companies/boston-dynamics.md) (verified)

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