Slip detection using robotic limbs

Patent metadata

Field	Value
Publication number	US-9618937-B1
Application number	US-201414468146-A
Country	US
Kind code	B1
Filing date	Aug 25, 2014
Priority date	Aug 25, 2014
Publication date	Apr 11, 2017
Grant date	Apr 11, 2017

Abstract

An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.

First claim

We claim:

1. A method comprising:
determining, by a robot comprising a set of sensors, based on first data received from the set of sensors, a first distance between a pair of feet of the robot at a first time, wherein the pair of feet is in contact with a ground surface;
determining, by the robot, based on second data received from the set of sensors, a second distance between the pair of feet of the robot at a second time, wherein the pair of feet remains in contact with the ground surface from the first time to the second time;
comparing a difference between the determined first and second distances to a threshold difference;
determining that the difference between the determined first distance between the pair of feet and the determined second distance between the pair of feet exceeds the threshold difference; and
based on the determination that the difference between the determined first distance between the pair of feet and the determined second distance between the pair of feet exceeds the threshold difference, causing the robot to react, wherein causing the robot to react comprises causing a third foot, which is not in contact with the ground surface, to make contact with the ground surface.

2. The method of claim 1 , wherein causing the robot to react further comprises generating an indication of a slip.

3. The method of claim 1 , wherein causing the robot to react further comprises increasing the threshold difference.

4. The method of claim 1 , wherein the method further comprises:
before determining the first distance between the pair of feet of the robot at the first time, causing the pair of feet to make contact with the ground surface, wherein the first time is within a range of 10-50 milliseconds after the pair of feet makes contact with the ground surface.

5. The method of claim 1 , wherein determining the first distance between the pair of feet comprises determining a first x-distance, a first y-distance, and a first z-distance between the pair of feet along three respective axes of a three axis coordinate system at the first time, wherein determining the second distance between the pair of feet comprises determining a second x-distance, a second y-distance, and a second z-distance between the pair of feet along the three respective axes of the three axis coordinate system at the second time, wherein comparing the difference between the determined first and second distances to the threshold difference comprises comparing i) an x-difference between the determined first x-distance and the second x-distance to a threshold x-distance, ii) a y-difference between the determined first y-distance and the second y-distance to a threshold y-distance, and iii) a z-difference between the determined first z-distance and the second z-distance to a threshold z-distance, and wherein determining that the difference between the first distance between the pair of feet and the second distance between the pair of feet exceeds the threshold difference comprises determining that at least one of the x-difference, the y-difference, and the z-difference exceeds the respective threshold difference.

6. The method of claim 5 , wherein causing the robot to react further comprises increasing one or more of the threshold x-distance, the threshold y-distance, and the threshold z-distance.

7. The method of claim 1 , wherein the operations of i) determining the second distance between the pair of feet and ii) comparing the difference between the determined first and second distances to the threshold difference are repeated at a frequency until the robot detects an indication to stop repeating the operations.

8. The method of claim 7 , wherein the frequency at which the operations are repeated is within a range of 1-1000 Hz.

9. The method of claim 7 , wherein the indication to stop repeating the steps comprises an indication that the pair of feet is no longer in contact with the ground surface.

10. The method of claim 1 , wherein the threshold difference is between 1 and 50 centimeters.

11. A method comprising:
determining, by a robot, based on first data received from a first set sensors, a first estimate of a distance travelled by a body of the robot in a time period, wherein the first estimate is based on a first foot of the robot that is in contact with a ground surface;
determining, by the robot, based on second data received from a second set of sensors, a second estimate of the distance travelled by the body of the robot in the time period, wherein the second estimate is not based on any foot of the robot that is in contact with the ground surface;
comparing a difference between the determined first and second estimates to a threshold difference;
determining that the difference between the determined first estimate of the distance travelled by the body of the robot and the determined second estimate of the distance travelled by the body of the robot exceeds the threshold difference; and
based on the determination that the difference between the determined first estimate of the distance travelled by the body of the robot and the determined second estimate of the distance travelled by the body of the robot exceeds the threshold difference, causing the robot to react, wherein causing the robot to react comprises causing a second foot, which is not in contact with the ground surface, to make contact with the ground surface.

12. The method of claim 11 , wherein the first set of sensors detects a position of the first foot of the robot relative to the body of the robot, and wherein the second set of sensors detects an acceleration of the body of the robot.

13. The method of claim 11 , wherein causing the robot to react further comprises generating an indication of a slip.

14. The method of claim 11 , wherein causing the robot to react further comprises increasing the threshold difference.

15. The method of claim 11 , wherein the first foot is one of a pair of feet, wherein the time period comprises a first time and a second time, and wherein the threshold difference is a first threshold difference, the method further comprising:
determining, by the robot, based on third data received from the first set of sensors, a first distance between the pair of feet of the robot at the first time, wherein the pair of feet is in contact with the ground surface;
determining, by the robot, based on fourth data received from the first set of sensors, a second distance between the pair of feet of the robot at the second time, wherein the pair of feet remains in contact with the ground surface from the first time to the second time;
comparing a difference between the determined first and second distances to a second threshold difference;
determining that the difference between the first distance between the pair of feet and the second distance between the pair of feet exceeds the second threshold difference; and
based on the determination that the difference between the first estimate of the distance travelled by the body of the robot and the second estimate of the distance travelled by the body of the robot exceeds the first threshold difference, identifying the first foot of the pair of feet as the foot that slipped.

16. A robot comprising:
a body;
a first foot and a second foot coupled to the body;
a first set of sensors;
a second set of sensors;
a processor;
a non-transitory computer readable medium; and
program instructions stored on the non-transitory computer readable medium that, when executed by the processor, cause the robot to perform functions comprising:
determining, by the robot based on first data

Assignees

• Google Inc

Inventors

• Blankespoor Kevin
• Perkins Alex
• Da Silva Marco

Classifications

• B25J13/08 Primary

  by means of sensing devices, e.g. viewing or touching devices · CPC title

• B62D57/02 Primary

  with ground-engaging propulsion means, e.g. walking members · CPC title

• G05D1/021 Primary

  specially adapted to land vehicles · CPC title

• Y10S901/01

  Mobile robot · CPC title

• G05D1/43

  Control of position or course in two dimensions [2D] · CPC title