Continuous slip recovery

Patent metadata

Field	Value
Publication number	US-9925667-B1
Application number	US-201615005687-A
Country	US
Kind code	B1
Filing date	Jan 25, 2016
Priority date	Jan 25, 2016
Publication date	Mar 27, 2018
Grant date	Mar 27, 2018

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

We claim:

1. An iterative method for mitigating slip of a robot appendage, the method comprising:
receiving, by a control system of the robot, an input from one or more sensors;
during a first iteration:
determining, by the control system, a first appendage position of the robot appendage based on the received input;
determining, by the control system, a filter position for the robot appendage;
determining, by the control system, a first distance between the first appendage position and the filter position;
determining, by the control system, a first force to apply to the robot appendage based on the first distance;
causing, by the control system, one or more actuators to apply the first force to the robot appendage;
determining, by the control system, whether the first distance is greater than a threshold distance; and
responsive to determining that the first distance is greater than the threshold distance, adjusting, by the control system, the filter position to an adjusted filter position for use during a second iteration immediately succeeding the first iteration, the adjusted filter position spaced apart from the first appendage position by the threshold distance; and

during the second iteration:
determining, by the control system, a second appendage position of the robot appendage based on the received input;
determining, by the control system, a second distance between the second appendage position and the adjusted filter position;
determining, by the control system, a second force to apply to the robot appendage based on the second distance;
causing, by the control system, the one or more actuators to apply the second force to the robot appendage;
determining, by the control system, whether the second distance is greater than the threshold distance; and
responsive to determining that the second distance is not greater than the threshold distance, maintaining, by the control system, the adjusted filter position for use during a third iteration immediately succeeding the second iteration.

2. The method of claim 1 , further comprising responsive to determining that the distance is not greater than the threshold distance, maintaining, by the control system, the determined filter position for use during the second iteration.

3. The method of claim 2 , wherein the appendage is configured to be in (i) a swing state in which the appendage moves through free space and (ii) a stance state in which the appendage contacts a surface, and wherein determining the filter position comprises:
determining whether the robot appendage is in the stance state or the swing state;
responsive to determining that the robot appendage is in the swing state, setting the first appendage position as the filter position; and
responsive to determining that the robot appendage is in the stance state, determining the filter position to be an outcome of the control system adjusting or maintaining a prior filter position in an immediately preceding iteration.

4. The method of claim 1 , wherein determining the filter position further comprises setting the filter position equal to the first appendage position when the first iteration comprises an initial iteration.

5. The method of claim 1 , wherein the adjusted filter position spaced apart from the first appendage position by the threshold distance is (i) collinear with the first appendage position and the filter position and (ii) between the first appendage position and the filter position.

6. The method of claim 1 , wherein the robot appendage is a robot foot.

7. The method of claim 1 , wherein causing the one or more actuators to apply the first force comprises causing the one or more actuators to apply the first force to the robot appendage in a direction from the first appendage position toward the filter position.

8. The method of claim 7 , wherein determining the first force further includes determining the first force based on a spring constant of a virtual spring extending between the first appendage position and the filter position.

9. The method of claim 8 , further comprising:
determining, by the control system, a velocity of the robot appendage,
wherein determining the first force is further based on the velocity of the robot appendage.

10. The method of claim 1 , wherein the method is iteratively performed by the control system in real-time while the robot appendage is slipping.

11. A robotic system comprising:
a body;
an appendage coupled to the body;
one or more actuators coupled to the appendage;
one or more sensors; and
a control system communicatively coupled to the one or more sensors and the one or more actuators, wherein the control system is configured to iteratively carry out a plurality of operations to mitigate slip of the appendage,
wherein, during a first iteration, the control system is configured to:
determine a first appendage position of the robot appendage based on the received input;
determine a filter position for the robot appendage;
determine a first distance between the first appendage position and the filter position;
determine a first force to apply to the robot appendage based on the first distance;
cause one or more actuators to apply the first force to the robot appendage;
determine whether the first distance is greater than a threshold distance; and
when the first distance is greater than the threshold distance, adjust the filter position to an adjusted filter position for use during a second iteration immediately succeeding the first iteration, the adjusted filter position spaced apart from the first appendage position by the threshold distance, and

wherein, during the second iteration, the control system is configured to:
determine a second appendage position of the robot appendage based on the received input;
determine a second distance between the second appendage position and the adjusted filter position;
determine a second force to apply to the robot appendage based on the second distance;
cause the one or more actuators to apply the second force to the robot appendage;
determine whether the second distance is greater than the threshold distance; and
when the second distance is not greater than the threshold distance, maintain the adjusted filter position for use during a third iteration immediately succeeding the second iteration.

12. The robotic system of claim 11 , wherein the adjusted filter position spaced apart from the first appendage position by the threshold distance is (i) collinear with the first appendage position and the filter position and (ii) between the first appendage position and the filter position.

13. The robotic system of claim 11 , wherein the control system is further configured to determine the first force based on a spring constant of a virtual spring extending between the first appendage position and the filter position.

14. The robotic system of claim 11 , wherein the appendage is configured to be in (a) a swing state in which the appendage moves through free space and (b) a stance state in which the appendage contacts a surface, and wherein, to determine the filter position, the control system is further configured to:
determine whether the robot appendage is in the stance state or the swing state;
responsive to a determination that the robot appendage is in the swing state, set the first appendage position as the filter position; and
responsive to a determination that the robot appendage is in the stance state, determine the filter position to be an outcome of the control system adjusting or maintaining a prior filter position in an immediately preceding iteration.

Assignees

• Google Inc
• Boston Dynamics Inc

Inventors

• Berard Stephen
• Khripin Alex Yu
• Swilling Benjamin

Classifications

• B25J13/085 Primary

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• B25J9/1628

  characterised by the control loop · 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

• Y10S901/27

  Arm part · CPC title

• Y10S901/28

  Joint · CPC title