Achieving a target gait behavior in a legged robot

Patent metadata

Field	Value
Publication number	US-12054208-B2
Application number	US-202117158748-A
Country	US
Kind code	B2
Filing date	Jan 26, 2021
Priority date	Nov 11, 2015
Publication date	Aug 6, 2024
Grant date	Aug 6, 2024

Abstract

A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.

First claim

What is claimed is:

1. A computer-implemented method when executed by data processing hardware of a quadruped robot causes the data processing hardware to perform operations comprising:
receiving, from a remote control, a first user-selection for a first controller to implement a first gait pattern for four legs of the quadruped robot;
instructing the first controller to execute the first gait pattern, the first gait pattern comprising:
a first time instance in which the four legs operate as a pair of swing legs and a pair of stance legs; and
a second time instance in which the four legs are in contact with a ground surface;

receiving, from the remote control, a second user-selection to implement a second gait pattern;
selecting a second controller to implement the second gait pattern from an ordered list of gait controllers;
determining a current state of the quadruped robot based on sensor information received from one or more sensors of the quadruped robot;
determining that the quadruped robot is capable of achieving the second gait pattern based on the current state of the quadruped robot;
instructing the second controller to change execution by the quadruped robot from the first gait pattern to the second gait pattern in response to determining that the quadruped robot is capable of achieving the second gait pattern, the second gait pattern comprising:
a third time instance in which the four legs operate as two pairs of swing legs; and
a fourth time instance in which the four legs operate as a pair of swing legs and a pair of stance legs; and

transporting cargo with a load-carrying portion of the quadruped robot during execution of the second gait pattern, the quadruped robot comprising a body coupled to the four legs of the quadruped robot, the body having the load-carrying portion.

2. The method of claim 1 , wherein the first user-selection indicates a geographical location for the quadruped robot to travel to using the first gait pattern.

3. The method of claim 1 , wherein the first gait pattern has a slower velocity for the quadruped robot than the second gait pattern.

4. The method of claim 1 , wherein the first gait pattern is selected for a first terrain and the second gait pattern is selected for a second terrain, the first terrain different than the second terrain.

5. The method of claim 1 , wherein the operations further comprise:
receiving, from the remote control, a third user-selection for a third controller to implement a third gait pattern, the third gait pattern corresponding to a stand gait where all legs of the quadruped robot are in contact with the ground surface;
instructing the first controller to change execution by the quadruped robot from the second gait pattern to the first gait pattern; and
instructing the third controller to change execution by the quadruped robot from the first gait pattern to the third gait pattern.

6. The method of claim 1 , wherein instructing the second controller to change execution by the quadruped robot from the first gait pattern to the second gait pattern comprises:
causing the quadruped robot to transition from the first gait pattern to a transition gait pattern; and
after executing the transition gait pattern for a finite period of time, causing the quadruped robot to change from the transition gait pattern to the second gait pattern.

7. The method of claim 1 , wherein changing execution by the quadruped robot from the first gait pattern to the second gait pattern occurs mid-stride for the quadruped robot.

8. The method of claim 1 , wherein changing execution by the quadruped robot from the first gait pattern to the second gait pattern occurs at an end of a gait cycle of the first gait pattern.

9. The method of claim 1 , wherein at the first time instance the pair of swing legs comprise a first front leg and a first rear leg contralateral to the first front leg, and at the first time instance the pair of stance legs comprise a second front leg opposite the first front leg and a second rear leg contralateral to the second front leg.

10. A robot comprising:
a body having a load-carrying portion configured to support transportation of cargo;
four legs coupled to the body; and
a control system in communication with the four legs of the robot, the control system configured to perform operations comprising:
receiving, from a remote control, a first user-selection for a first controller to implement a first gait pattern;
instructing the first controller to execute the first gait pattern, the first gait pattern comprising:
a first time instance in which the four legs operate as a pair of swing legs and a pair of stance legs; and
a second time instance in which the four legs are in contact with a ground surface;

receiving, from the remote control, a second user-selection to implement a second gait pattern;
selecting a second controller to implement the second gait pattern from an ordered list of gait controllers;
determining a current state of the robot based on sensor information received from one or more sensors of the robot;
determining that the robot is capable of achieving the second gait pattern based on the current state of the robot; and
instructing the second controller to change execution by the robot from the first gait pattern to the second gait pattern in response to determining that the robot is capable of achieving the second gait pattern, the second gait pattern comprising:
a third time instance in which the four legs operate as two pairs of swing legs; and
a fourth time instance in which the four legs operate as a pair of swing legs and a pair of stance legs,
wherein the load-carrying portion of the body is further configured to support transportation of the cargo during execution of the second gait pattern.

11. The robot of claim 10 , wherein the first user-selection indicates a geographical location for the robot to travel to using the first gait pattern.

12. The robot of claim 10 , wherein the first gait pattern has a slower velocity for the robot than the second gait pattern.

13. The robot of claim 10 , wherein the first gait pattern is selected for a first terrain and the second gait pattern is selected for a second terrain, the first terrain different than the second terrain.

14. The robot of claim 10 , wherein the operations further comprise:
receiving, from the remote control, a third user-selection for a third controller to implement a third gait pattern, the third gait pattern corresponding to a stand gait where all legs of the robot are in contact with the ground surface;
instructing the first controller to change execution by the robot from the second gait pattern to the first gait pattern; and
instructing the third controller to change execution by the robot from the first gait pattern to the third gait pattern.

15. The robot of claim 10 , wherein instructing the second controller to change execution by the robot from the first gait pattern to the second gait pattern comprises:
causing the robot to transition from the first gait pattern to a transition gait pattern; and
after executing the transition gait pattern for a finite period of time, causing the robot to change from the transition gait pattern to the second gait pattern.

16. The robot of claim 10 , wherein changing execution by the robot from the first gait pattern to the second gait pattern occurs mid-stride for the robot.

17. The robot of claim 10 , wherein changing execution by the robot from the first gait pattern to the second gait pattern occurs at an end of a gait cycle of the

Assignees

• Boston Dynamics Inc

Inventors

• Swilling Benjamin
• Whitman Eric
• Berard Stephen
• Rizzi Alfred Anthony
• Khripin Alex Yu
• Fay Gina Christine

Classifications

• B25J9/0006

  Exoskeletons, i.e. resembling a human figure · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/162

  Mobile manipulator, movable base with manipulator arm mounted on it · CPC title

• Y10S901/01

  Mobile robot · 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