Determination of robot behavior

Patent metadata

Field	Value
Publication number	US-10093019-B1
Application number	US-201615230776-A
Country	US
Kind code	B1
Filing date	Aug 8, 2016
Priority date	Dec 29, 2014
Publication date	Oct 9, 2018
Grant date	Oct 9, 2018

Abstract

A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a predetermined goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.

First claim

What is claimed is:

1. A method comprising:
operating a model of a robot with a first set of control parameters to simulate a first motion of the robot, wherein the first set of control parameters represents a first coordinated exertion of forces by actuators of the robot;
determining a second set of control parameters based on the first set of control parameters and the first simulated motion of the robot;
operating the model with the second set of control parameters to simulate a second motion of the robot, wherein the second set of control parameters represents a second coordinated exertion of forces by the actuators of the robot;
determining respective first and second scores for the first and second simulated motions of the robot, wherein the first and second scores are based on constraints associated with limbs of the robot and a predetermined goal;
based on the first and second scores, selecting either the first or second set of control parameters; and
based on the selected set of control parameters, causing the actuators of the robot to perform the associated coordinated exertion of forces.

2. The method of claim 1 , wherein a particular limb of the robot includes a joint connecting a first member and a second member, and an actuator configured to control a state of the particular limb, wherein the state of the particular limb includes an angle between the first member and the second member, and an extent of torque exerted at the joint, wherein the torque exerted at the joint results from an exertion of a force by the actuator, and wherein the selected set of control parameters includes a starting state for the actuator, an ending state for the actuator, and a duration of time for the exertion of force by the actuator.

3. The method of claim 2 , wherein the joint is constrained to operate within an operable range of angles indicated by a joint constraint, and wherein the actuator is constrained to operate within an operable range of forces indicated by an actuator constraint.

4. The method of claim 2 , wherein the simulated motion resulting from operating the model with the selected set of control parameters includes the joint taking on various angles and torques over the duration of time.

5. The method of claim 4 , wherein constraints associated with the limbs of the robot include actuator constraints of the actuator and joint constraints of the joint, wherein the model is further configured to include a representation of a control system of the robot, and wherein operating the model with the first set of control parameters comprises:
providing the first set of control parameters to the representation of the control system; and
based on the model and the first set of control parameters, simulating a motion of the robot that is limited by the respective actuator constraints and joint constraints.

6. The method of claim 2 , wherein causing the actuators of the robot to perform the associated coordinated exertion of forces comprises:
transitioning from a first mode of operation to a second mode of operation, wherein the first mode of operation is a steady-state mode of operation that balances the robot, and wherein the second mode of operation is a transient mode of operation that causes the robot to: (i) operate the actuator to the starting state, and (ii) transition the actuator from the starting state to the ending state over the duration of time; and
upon completion of the second mode of operation, transitioning from the second mode of operation to the first mode of operation.

7. The method of claim 1 , wherein determining the score for the first simulated motion of the robot comprises:
determining a first sub-score based on a relationship between a first measurable aspect of the first simulated motion and the predetermined goal;
determining a second sub-score based on a relationship between a second measurable aspect of the first simulated motion and the constraints associated with the limbs of the robot; and
calculating the first score based on the first sub-score and the second sub-score.

8. The method of claim 1 , wherein determining the second set of control parameters comprises:
identifying a pattern in the first simulated motion that indicates a manner of varying the first set of control parameters that results in a further simulated motion that is associated with a further score that approaches a desired value, wherein the desired value numerically represents the predetermined goal; and
determining the second set of control parameters based on the first set of control parameters and the identified pattern.

9. The method of claim 1 , wherein selecting either the first or second set of control parameters comprises:
determining a particular score from the first and second scores that is nearest to a desired value, wherein the desired value numerically represents the predetermined goal; and
selecting one of the first or second set of control parameters that corresponds to the particular score.

10. The method of claim 1 , wherein subsets of the selected set of control parameters are associated with respective actuators of the robot, wherein each subset of the selected set of control parameters includes a plurality of force values, and wherein causing the robot to perform the associated coordinated exertion of forces comprises:
exerting, for each actuator associated with a subset of the selected set of control parameters, a first magnitude of force specified by an initial force value from the plurality of force values of the respective subset; and
exerting, for each actuator associated with a subset of the selected set of control parameters, a second magnitude of force specified by a subsequent force value from the plurality of force values of the respective subset.

11. The method of claim 1 , wherein the selected set of control parameters defines a transient motion of the robot that exceeds a constraint of an actuator, the method further comprising:
selecting a third set of control parameters that define a recovery motion to maintain balance of the robot, wherein the recovery motion involves a further coordinated exertion of forces by the actuators of the robot; and
causing the actuators of the robot to perform the further coordinated exertion of forces.

12. A system comprising:
a robot including actuators;
a processor; and
a memory storing a model of the robot and program logic, the program logic executable by the processor to cause the system to perform the following operations:
operating the model with a first set of control parameters to simulate a first motion of the robot, wherein the first set of control parameters represents a first coordinated exertion of forces by actuators of the robot;
determining a second set of control parameters based on the first set of control parameters and the first simulated motion of the robot;
operating the model with the second set of control parameters to simulate a second motion of the robot, wherein the second set of control parameters represents a second coordinated exertion of forces by the actuators of the robot;
determining respective first and second scores for the first and second simulated motions of the robot, wherein the first and second scores are based on constraints associated with limbs of the robot and a predetermined goal;
based on the first and second scores, selecting either the first or second set of control parameters; and
based on the selected set of control parameters, causing the actuators of the robot to perform the associated coordinated exertion of forces.

13. The system of claim 12 , wherein a particular limb of the robot includes a joint

Assignees

• Boston Dynamics Inc

Inventors

• Silva Marco Da
• Stephens Benjamin
• Rizzi Alfred Anthony
• Abe Yeuhi

Classifications

• Y10S901/01

  Mobile robot · CPC title

• Y10S901/02

  Arm motion controller · CPC title

• B62D57/032

  with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) · CPC title

• B25J9/1605 Primary

  Simulation of manipulator lay-out, design, modelling of manipulator · CPC title

• Y10S901/28

  Joint · CPC title