Continuous slip recovery

Patent metadata

Field	Value
Publication number	US-12097609-B2
Application number	US-202217573265-A
Country	US
Kind code	B2
Filing date	Jan 11, 2022
Priority date	Jan 25, 2016
Publication date	Sep 24, 2024
Grant date	Sep 24, 2024

Abstract

The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.

First claim

What is claimed is:

1. A computer-implemented method comprising:
identifying, by data processing hardware of a robot, a touchdown of an appendage of the robot;
identifying, by the data processing hardware, a first position of the appendage based on the touchdown of the appendage of the robot;
identifying, by the data processing hardware, a second position of the appendage;
determining, by the data processing hardware, a difference between the first position of the appendage and the second position of the appendage; and
instructing, by the data processing hardware, one or more actuators of the robot to apply a force at the appendage based on the difference between the first position of the appendage and the second position of the appendage.

2. The method of claim 1 , further comprising updating the second position of the appendage to obtain an updated second position of the appendage.

3. The method of claim 2 , further comprising instructing the one or more actuators to adjust the force at the appendage based on a difference between a third position of the appendage and the updated second position of the appendage.

4. The method of claim 2 , wherein updating the second position of the appendage comprises:
maintaining the second position of the appendage; or
modifying the second position of the appendage.

5. The method of claim 2 , wherein the updated second position of the appendage is collinear with a third position of the appendage and between the third position of the appendage and the second position of the appendage.

6. The method of claim 2 , wherein updating the second position of the appendage comprises setting the second position of the appendage equal to a third position of the appendage.

7. The method of claim 2 , wherein updating the second position of the appendage comprises:
determining the difference between the first position of the appendage and the second position of the appendage is greater than or matches a threshold distance; and
modifying the second position of the appendage based on determining the difference between the first position of the appendage and the second position of the appendage is greater than or matches the threshold distance.

8. The method of claim 1 , wherein instructing the one or more actuators to apply the force comprises:
receiving sensor data associated with the appendage;
determining, based on the sensor data, a velocity of the appendage; and
instructing the one or more actuators to apply the force based on the velocity.

9. The method of claim 1 , wherein the force is proportional to the difference between the first position of the appendage and the second position of the appendage.

10. The method of claim 1 , wherein application of the force causes the appendage to move from the first position of the appendage towards the second position of the appendage.

11. A robot comprising:
a body;
one or more appendages coupled to the body;
data processing hardware in communication with the one or more appendages, and
memory in communication with the data processing hardware, the memory storing instructions that when executed on the data processing hardware cause the data processing hardware to:
identify a touchdown of an appendage of the one or more appendages;
identify a first position of the appendage based on the touchdown of the appendage of the robot;
identify a second position of the appendage;
determine a difference between the first position of the appendage and the second position of the appendage; and
instruct one or more actuators of the robot to apply a force at the appendage based on the difference between the first position of the appendage and the second position of the appendage.

12. The robot of claim 11 , wherein execution of the instructions on the data processing hardware further causes the data processing hardware to update the second position of the appendage to obtain an updated second position of the appendage.

13. The robot of claim 12 , wherein the execution of the instructions on the data processing hardware further causes the data processing hardware to instruct the one or more actuators to adjust the force at the appendage based on a difference between a third position of the appendage and the updated second position of the appendage.

14. The robot of claim 12 , wherein to update the second position of the appendage, the execution of the instructions on the data processing hardware further causes the data processing hardware to:
maintain the second position of the appendage; or
modify the second position of the appendage.

15. The robot of claim 12 , wherein the updated second position of the appendage is collinear with a third position of the appendage and between the third position of the appendage and the second position of the appendage.

16. The robot of claim 12 , wherein to update the second position of the appendage, the execution of the instructions on the data processing hardware further causes the data processing hardware to set second position of the appendage equal to a third position of the appendage.

17. The robot of claim 12 , wherein to update the second position of the appendage, the execution of the instructions on the data processing hardware further causes the data processing hardware to:
determine the difference between the first position of the appendage and the second position of the appendage is greater than or matches a threshold distance; and
modify the second position of the appendage based on determining the difference between the first position of the appendage and the second position of the appendage is greater than or matches the threshold distance.

18. The robot of claim 11 , wherein to instruct the one or more actuators to apply the force, execution of the instructions on the data processing hardware further causes the data processing hardware to:
receive sensor data associated with the appendage;
determine, based on the sensor data, a velocity of the appendage; and
instruct the one or more actuators to apply the force based on the velocity.

19. The robot of claim 11 , wherein the force is proportional to the difference between the first position of the appendage and the second position of the appendage.

20. The robot of claim 11 , wherein application of the force causes the appendage to move from the first position of the appendage towards the second position of the appendage.

Assignees

• Boston Dynamics Inc

Inventors

• Berard Stephen
• Khripin Alex Yu
• Swilling Benjamin

Classifications

• B25J19/0008

  Balancing devices · CPC title

• Y10S901/30

  End effector · CPC title

• Y10S901/28

  Joint · CPC title

• Y10S901/27

  Arm part · CPC title

• Y10S901/01

  Mobile robot · CPC title