Determining robot inertial properties
AssigneeX Development LLC
InventorYunfei Bai
Life of this patent
Estimating the term…
Abstract
Methods and systems for modifying the inertial parameters used in a virtual robot model that simulates the interactions of a real-world robot with an environment to better reflect the actual inertial properties of the real-world robot. In one aspect, a method includes obtaining joint physical parameter measurements for the joints of a real-world robot, determining simulated joint physical parameter values for each of the joint physical parameter measurements, and adjusting an estimate of inertial properties of the real-world robot used by the virtual robot dynamic model to reduce a difference between the simulated joint physical parameter values and the corresponding joint physical parameter measurements.
Claims17
A method comprising:
- obtaining, by a robot management system operating a real-world robot, a plurality of joint physical parameter measurements for the joints of the real-world robot;
- and
- adjusting, by the robot management system and using the plurality of joint physical parameter measurements, an estimate of one or more inertial properties of the real-world robot used by a virtual robot dynamic model to simulate interactions of the real-world robot with an environment, comprising:
- determining, by the robot management system and using the virtual robot dynamic model and in accordance with a current estimate of the one or more inertial properties, a respective plurality of simulated joint physical parameter values corresponding to each of the plurality of joint physical parameter measurements;
- adjusting, by the robot management system, the current estimate of the one or more inertial properties utilized by the virtual robot dynamic model to minimize a summation of differences between each simulated joint physical parameter value of the plurality of simulated joint physical parameter values and the corresponding joint physical parameter measurement of the plurality of joint physical parameter measurements in a nonlinear least squares equation.
A system, comprising:
- one or more data processing apparatus;
- and
- a non-transitory memory storage in data communication with the one or more data processing apparatus and storing instructions executable by the data processing apparatus and that upon such execution cause the data processing apparatus to perform operations comprising:
- obtaining, by a robot management system on the one or more data processing apparatus and in communication with a real-world robot, a plurality of joint physical parameter measurements for the joints of the real-world robot;
- and
- adjusting, by the robot management system and using the plurality of joint physical parameter measurements, an estimate of one or more inertial properties of the real-world robot used by a virtual robot dynamic model to simulate interactions of the real-world robot with an environment, comprising:
- determining, by the robot management system and using the virtual robot dynamic model and in accordance with a current estimate of the one or more inertial properties, a respective plurality of simulated joint physical parameter values corresponding to each of the plurality of joint physical parameter measurements;
- adjusting, by the robot management system, the current estimate of the one or more inertial properties utilized by the virtual robot dynamic model to minimize a summation of differences between each simulated joint physical parameter value of the plurality of simulated joint physical parameter values and the corresponding joint physical parameter measurement of the plurality of joint physical parameter measurements in a nonlinear least squares equation.
One or more non-transitory computer-storage media storing instructions that when executed by one or more data processing apparatus cause the one or more data processing apparatus to perform operations comprising:
- obtaining, by a robot management system on the one or more data processing apparatus and in communication with a real-world robot, a plurality of joint physical parameter measurements for the joints of the real-world robot;
- and
- adjusting, by the robot management system and using the plurality of joint physical parameter measurements, an estimate of one or more inertial properties of the real-world robot used by a virtual robot dynamic model to simulate interactions of the real-world robot with an environment, comprising:
- determining, by the robot management system and using the virtual robot dynamic model and in accordance with a current estimate of the one or more inertial properties, a respective plurality of simulated joint physical parameter values corresponding to each of the plurality of joint physical parameter measurements;
- and
- adjusting, by the robot management, the current estimate of the one or more inertial properties utilized by the virtual robot dynamic model to minimize a summation of differences between each simulated joint physical parameter value of the plurality of simulated joint physical parameter values and the corresponding joint physical parameter measurement of the plurality of joint physical parameter measurements in a nonlinear least squares equation.
Dependencies are inferred from the claim text.