Granted Patent B2

US 12,270,686 · App. 18/469,994 · Granted Apr 8, 2025

Inventor: Alex Khripin (Waltham, MA)

Assignee: Boston Dynamics, Inc.

G01D18/001B25J9/1692G01D5/2448G01D5/347

Abstract

Claims (67)

1. A method comprising:

receiving, at data processing hardware, position measurement data from a position measurement system that is configured to measure a position of a joint of a robot, the position measurement system comprising a nonius track and a master track;

determining, by the data processing hardware, that the position measurement data comprises periodic distortion data;

modifying, by the data processing hardware, the position measurement data by:

obtaining velocity measurement data based on the position measurement data;

identifying the periodic distortion data from the velocity measurement data;

decomposing the periodic distortion data into periodic components; and

removing the periodic components from the position measurement data; and

controlling, via the data processing hardware, the joint of the robot based on the modified position measurement data.

2. The method of claim 1 , wherein determining that the position measurement data comprises periodic distortion data comprises filtering out low-frequency content of the velocity measurement data to isolate high-frequency content of the velocity measurement data, the high-frequency content of the velocity measurement data comprising the periodic distortion data.

3. The method of claim 1 , further comprising:

generating, by the data processing hardware, a calibration profile corresponding to the modified position measurement data; and

calibrating, by the data processing hardware, the position measurement system using the calibration profile.

4. The method of claim 1 , wherein the periodic distortion data corresponds to at least one of a gain error, sensor saturation, or a physical variation in magnetic pole spacing at the position measurement system.

5. The method of claim 1 , wherein:

the position measurement data comprises first position measurement data for the master track and second position measurement data for the nonius track; and

the periodic distortion data is present in each of the first position measurement data and the second measurement data.

6. The method of claim 1 , wherein receiving the position measurement data from the position measurement system comprises:

executing a calibration mode for calibrating the position measurement system coupled to the robot, the calibration mode configured to actuate a limb of the robot through a range of motion about the joint; and

receiving the position measurement data from the position measurement system, the measurement data associated with the actuation of the limb of the robot.

7. A system comprising:

data processing hardware; and

memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:

receiving position measurement data from a position measurement system that is configured to measure a position of a joint of a robot, the position measurement system comprising a nonius track and a master track;

determining that the position measurement data comprises periodic distortion data;

modifying the position measurement data by:

obtaining velocity measurement data based on the position measurement data;

identifying the periodic distortion data from the velocity measurement data;

decomposing the periodic distortion data into periodic components; and

removing the periodic components from the position measurement data; and

controlling the joint of the robot based on the modified position measurement data.

8. The system of claim 7 , wherein determining that the position measurement data comprises periodic distortion data comprises filtering out low-frequency content of the velocity measurement data to isolate high-frequency content of the velocity measurement data, the high-frequency content of the velocity measurement data comprising the periodic distortion data.

9. The system of claim 7 , wherein the operations further comprise:

generating a calibration profile corresponding to the modified position measurement data; and

calibrating the position measurement system using the calibration profile.

10. The system of claim 7 , wherein the periodic distortion data corresponds to at least one of a gain error, sensor saturation, or a physical variation in magnetic pole spacing at the position measurement system.

11. The system of claim 7 , wherein:

the position measurement data comprises first position measurement data for the master track and second position measurement data for the nonius track; and

the periodic distortion data is present in each of the first position measurement data and the second position measurement data.

12. The system of claim 7 , wherein receiving the position measurement data from the position measurement system comprises:

executing a calibration mode for calibrating the position measurement system coupled to the robot, the calibration mode configured to actuate a limb of the robot through a range of motion about the joint; and

receiving the position measurement data from the position measurement system, the position measurement data associated with the actuation of the limb of the robot.

13. A method comprising:

receiving, at data processing hardware, position measurement data associated with an off-axis position measurement system that is configured to measure a position of a joint of a robot;

determining, by the data processing hardware, that the position measurement data comprises periodic distortion data;

obtaining velocity measurement data based on the position measurement data;

identifying the periodic distortion data from the velocity measurement data;

decomposing, by the data processing hardware, the periodic distortion data into periodic components;

generating, by the data processing hardware, a calibration profile based on removing the periodic components of the periodic distortion data from the position measurement data;

calibrating, by the data processing hardware, the off-axis position measurement system using the calibration profile; and

controlling, by the data processing hardware, the joint of the robot based on calibrated position measurement data associated with the calibrated off-axis position measurement system.

14. The method of claim 13 , wherein determining that the position measurement data comprises periodic distortion data comprises filtering out low-frequency content of the velocity measurement data to isolate high-frequency content of the velocity measurement data, the high-frequency content of the velocity measurement data comprising the periodic distortion data.

15. The method of claim 13 , wherein receiving the position measurement data comprises:

executing a calibration mode for the off-axis position measurement system, the calibration mode configured to actuate a limb of the robot through a range of motion about the joint; and

receiving the position measurement data from the off-axis position measurement system, the position measurement data associated with the actuation of the limb of the robot.

16. A system comprising:

data processing hardware; and

memory hardware in communication with the data processing hardware, the memory hardware storing instructions that when executed on the data processing hardware cause the data processing hardware to perform operations comprising:

receiving position measurement data associated with an off-axis position measurement system that is configured to measure a position of a joint of a robot;

determining that the position measurement data comprises periodic distortion data;

obtaining velocity measurement data based on the position measurement data;

identifying the periodic distortion data from the velocity measurement data;

decomposing the periodic distortion data into periodic components;

generating a calibration profile based on removing the periodic components of the periodic distortion data from the position measurement data;

calibrating the off-axis position measurement system using the calibration profile; and

controlling the joint of the robot based on calibrated position measurement data associated with the calibrated off-axis position measurement system.

17. The system of claim 16 , wherein determining that the position measurement data comprises periodic distortion data comprises filtering out low-frequency content of the velocity measurement data to isolate high-frequency content of the velocity measurement data, the high-frequency content of the velocity measurement data comprising the periodic distortion data.

Assignments (2)

Continuity (3)

References Cited (54)