Granted Patent B1

US 10,226,870 · App. 15/450,977 · Granted Mar 12, 2019

Inventors: Marco Da Silva (Arlington, MA); Kevin Blankespoor (Arlington, MA); Michael Scott Rose (Arlington, MA)

Assignee: Boston Dynamics, Inc.

B25J13/088B25J9/0003B25J13/085B62D57/032G01C19/5705G05D1/0891G05D2201/0217Y10S901/01

Abstract

Claims (77)

1. A method comprising:

determining, by a processor of a robot, a yaw axis slip of a foot of the robot with respect to a surface in contact with the foot, the robot comprising:

a body; and

a leg coupling the foot to the body;

determining, by the processor, a requested yaw for the body of the robot;

based on the determined yaw axis slip of the foot and the requested yaw for the body of the robot, determining, by the processor, a force allocation for the foot;

causing, by the processor, the foot to act on the surface with the force allocation;

determining, by the processor, a measured yaw for the body based on the determined yaw axis slip of the foot;

determining, by the processor, a target yaw for the body, the target yaw between the measured yaw for the body and the requested yaw for the body; and

causing, by the processor, the foot to rotate the body to the target yaw for the body.

2. The method of claim 1 , wherein the robot is a biped robot.

3. The method of claim 1 , wherein determining the force allocation for the foot comprises reducing a yaw axis moment component of the force allocation.

4. The method of claim 3 , wherein reducing the yaw axis moment component of the force allocation comprises reducing a yaw axis moment of the foot with respect to a hip of the robot, wherein the hip is coupled to the foot by the leg of the robot.

5. The method of claim 1 , wherein determining the force allocation for the foot comprises increasing a forward shear force component or lateral shear force component of the force allocation.

6. A method comprising:

determining, by a processor of a robot, a yaw axis slip of a foot of the robot with respect to a surface in contact with the foot, the robot comprising:

a body; and

a leg coupling the foot to the body;

based on the determined yaw axis slip of the foot and a requested yaw for the body of the robot, determining, by the processor, a force allocation for the foot; and

causing, by the processor, the foot to act on the surface with the force allocation,

wherein determining the yaw axis slip of the foot comprises:

detecting, by a first set of sensors, a first yaw axis rotation of the body of the robot with respect to the foot;

detecting, by a second set of sensors, a second yaw axis rotation of the body with respect to the surface;

determining that a difference between the first yaw axis rotation and the second yaw axis rotation exceeds a rotation threshold; and

based on the difference between the first yaw axis rotation and the second yaw axis rotation exceeding the rotation threshold, determining that there has been a yaw axis slip of the foot.

7. The method of claim 6 , wherein the rotation threshold is between 0.1 and 0.5 radians.

8. The method of claim 1 , further comprising:

determining, by the processor, a relative control priority for each of six degrees of freedom of movement for the robot; and

based on the yaw axis slip of the foot, updating, by the processor, the relative control priorities for each of the six degrees of freedom,

wherein determining the force allocation for the foot is based on the relative control priorities and the updated relative control priorities.

9. A robot comprising:

a body;

a leg;

a foot coupled to the body by the leg;

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 operations comprising:

determining a yaw axis slip of the foot with respect to a surface, wherein the foot is in contact with the surface;

determining a requested yaw for the body;

based on the determined yaw axis slip of the foot and the requested yaw for the body, determining a force allocation for the foot;

causing the foot to act on the surface with the force allocation;

determining a measured yaw for the body based on the determined yaw axis slip of the foot;

determining a target yaw for the body, the target yaw for the body between the measured yaw for the body and the requested yaw for the body; and

causing the foot to rotate the body to the target yaw for the body.

10. The robot of claim 9 , wherein the robot is a biped robot.

11. The robot of claim 9 , wherein determining the force allocation for the foot comprises reducing a yaw axis moment component of the force allocation.

12. The robot of claim 11 , wherein reducing the yaw axis moment component of the force allocation comprises reducing a yaw axis moment of the foot with respect to a hip of the robot, wherein the hip is coupled to the foot by the leg.

13. The robot of claim 9 , wherein determining the force allocation for the foot comprises increasing a forward shear force component or lateral shear force component of the force allocation.

14. A robot comprising:

a body;

a leg;

a foot coupled to the body by the leg;

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 operations comprising:

determining a yaw axis slip of the foot with respect to a surface, wherein the foot is in contact with the surface;

based on the determined yaw axis slip of the foot and the requested yaw for the body, determining a force allocation for the foot; and

causing the foot to act on the surface with the force allocation,

wherein determining the yaw axis slip of the foot comprises:

detecting, by a first set of sensors, a first yaw axis rotation of the body with respect to the foot;

detecting, by a second set of sensors, a second yaw axis rotation of the body with respect to the surface;

determining that a difference between the first yaw axis rotation and the second yaw axis rotation exceeds a rotation threshold; and

based on the difference between the first yaw axis rotation and the second yaw axis rotation exceeding the rotation threshold, determining that there has been a yaw axis slip of the foot.

15. The robot of claim 14 , wherein the rotation threshold is between 0.1 and 0.5 radians.

16. The robot of claim 9 , wherein movement of the robot has six degrees of freedom, and wherein the operations further comprise:

determining a relative control priority for each of the six degrees of freedom; and

based on the yaw axis slip of the foot, updating the relative control priorities for each of the six degrees of freedom,

wherein determining the force allocation for the foot is based on the relative control priorities and the updated relative control priorities.

17. An article of manufacture including a non-transitory computer-readable medium, having stored thereon program instructions that, upon execution by a processor of a robot, cause the robot to perform operations comprising:

determining a yaw axis slip of a foot of the robot with respect to a surface, wherein the foot is in contact with the surface;

determining a requested yaw for a body of the robot;

based on the determined yaw axis slip of the foot and the requested yaw for the body of the robot, determining a force allocation for the foot;

causing the foot to act on the surface with the force allocation;

determining a measured yaw for the body based on the determined yaw axis slip of the foot;

determining a target yaw for the body, the target yaw for the body between the measured yaw for the body and the requested yaw for the body; and

causing the foot to rotate the body to the target yaw for the body.

18. The article of manufacture of claim 17 , wherein determining the force allocation for the foot comprises reducing a yaw axis moment component of the force allocation.

Assignments (4)

Continuity (3)

Cited By (10)

US 12,222,723 US 12,235,652 US 12,304,082 US 12,365,407 US 12,372,982 US 12,442,640 US 12,449,822 US 12,461,531 US 12,466,501 US 12,468,300