Mechanically-timed footsteps for a robotic device

Patent metadata

Field	Value
Publication number	US-11654985-B2
Application number	US-202117158086-A
Country	US
Kind code	B2
Filing date	Jan 26, 2021
Priority date	Dec 30, 2014
Publication date	May 23, 2023
Grant date	May 23, 2023

Abstract

An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, and cause the second foot to contact the ground surface.

First claim

What is claimed is:

1. A computer-implemented method when executing by data processing hardware of a legged robot causes the data processing hardware to perform operations comprising:
determining that a gait disturbance dynamically shifts a center of mass for the legged robot toward a first lateral side of the legged robot;
instructing a first swing leg of the legged robot located on the first lateral side of the legged robot to move to a first touchdown position laterally outside of the center of mass of the legged robot;
controlling the first swing leg to exert a first ground contact force that pushes the center of mass of the legged robot toward a second lateral side of the legged robot opposite the first lateral side; and
instructing a second swing leg of the legged robot located on the second lateral side to move to a second touchdown position laterally outside the center of mass of the legged robot.

2. The method of claim 1 , wherein the operations further comprise controlling the second swing leg to exert a second ground contact force that pushes the center of mass towards an upright posture for the legged robot.

3. The method of claim 2 , wherein the upright posture corresponds to a balanced posture for the legged robot.

4. The method of claim 1 , wherein the gait disturbance occurs while the legged robot is performing a first motion gait, the first motion gait comprising at least one of a walking gait, a trotting gait, or a running gait.

5. The method of claim 1 , wherein the operations further comprise controlling an actuator associated with the first swing leg to generate the first ground contact force.

6. The method of claim 1 , wherein the operations further comprise controlling an actuator associated with the first swing leg to shift a center of pressure for touchdown of the first swing leg toward an outside edge of a foot associated with the first swing leg.

7. The method of claim 6 , wherein controlling the actuator comprises instructing the actuator to rotate the first swing leg during touchdown.

8. The method of claim 1 , wherein the legged robot comprises a body and four legs coupled to the body, and wherein two legs are coupled to the first lateral side of the body and two legs are coupled to the second lateral side of the body.

9. The method of claim 1 , wherein the operations further comprise adjusting a posture of the legged robot to shift the center of mass towards a balanced position.

10. The method of claim 1 , wherein the operations further comprise:
receiving a user input indicating a forward velocity for a gait of the legged robot; and
controlling the legged robot to execute the gait at the forward velocity input by the user.

11. A robot comprising:
a body;
four legs coupled to the body, the four legs comprising a first swing leg on a first lateral side of the body and a second swing leg on a second lateral side of the body opposite the first lateral side;
a control system in communication with the four legs of the robot, the control system comprising at least one processor and configured to perform operations comprising:
determining that a gait disturbance dynamically shifts a center of mass for the robot toward the first lateral side of the robot;
instructing the first swing leg to move to a first touchdown position laterally outside of the center of mass of the robot;
controlling the first swing leg to exert a first ground contact force that pushes the center of mass of the robot toward the second lateral side; and
instructing the second swing leg to move to a second touchdown position laterally outside the center of mass of the robot.

12. The robot of claim 11 , wherein the operations further comprise controlling the second swing leg to exert a second ground contact force that pushes the center of mass towards an upright posture for the robot.

13. The robot of claim 12 , wherein the upright posture corresponds to a balanced pose for the robot.

14. The robot of claim 11 , wherein the gait disturbance is received while the robot is performing a particular motion gait, the particular motion gait comprising at least one of a walking gait, a trotting gait, or a running gait.

15. The robot of claim 11 , wherein the operations further comprise controlling an actuator associated with the first swing leg to generate the first ground contact force.

16. The robot of claim 11 , wherein the operations further comprise controlling an actuator associated with the first swing leg to shift a center of pressure for touchdown of the first swing leg toward an outside edge of a foot associated with the first swing leg.

17. The robot of claim 16 , wherein controlling the actuator comprises instructing the actuator to rotate the first swing leg during touchdown.

18. The robot of claim 11 , wherein the operations further comprise adjusting a posture of the robot to shift the center of mass towards a balanced position.

19. The robot of claim 11 , wherein the operations further comprise:
receiving a user input indicating a forward velocity for a gait of the robot; and
controlling the robot to execute the gait at the forward velocity input by the user.

20. The robot of claim 19 , wherein determining that the gait disturbance dynamically shifts the center of mass for the legged robot comprises determining that the robot is travelling at a velocity greater than the forward velocity input by the user.

Assignees

• Boston Dynamics Inc

Inventors

• Stephens Benjamin

Classifications

• G05D1/49

  Control of attitude, i.e. control of roll, pitch or yaw · CPC title

• B62D57/032 Primary

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

• Y10S901/01

  Mobile robot · CPC title

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title

• B25J9/1651

  acceleration, rate control · CPC title