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US 10,967,505 B1Granted
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.
Claims20
A method comprising:
- obtaining, by a robot management system operating a real-world robot, a plurality of ranges of dynamic motion for the real-world robot, each range of dynamic motion for the real-world robot comprising a respective plurality of joint physical parameter measurements;
- receiving, by the robot management system, a current estimate for a set 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;
- for each range of dynamic motion of the plurality of ranges of dynamic motion for the real-world robot:
- determining, by the robot management system and using the virtual robot dynamic model and in accordance with the current estimate of the set of one or more inertial properties for the range of dynamic motion of the plurality of ranges of dynamic motion for the real-world robot, a respective plurality of simulated joint physical parameter values corresponding to each of the plurality of joint physical parameter measurements for the range of dynamic motion;
- and
- adjusting, by the robot management system, the current estimate of the set of one or more inertial properties to generate an updated estimate of the set of one or more inertial properties utilized by the virtual robot dynamic model for the range of dynamic motion to reduce a difference between the determined plurality of simulated joint physical parameter values and the corresponding plurality of joint physical parameter measurements;
- and
- providing, by the robot management system and to the virtual robot dynamic model for the plurality of ranges of dynamic motion, the updated estimate of the set of one or more inertial properties.
5 more elements
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 operating a real-world robot, a plurality of ranges of dynamic motion for the real-world robot, each range of dynamic motion for the real-world robot comprising a respective plurality of joint physical parameter measurements;
- receiving, by the robot management system, a current estimate for a set 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;
- for each range of dynamic motion of the plurality of ranges of dynamic motion for the real-world robot:
- determining, by the robot management system and using the virtual robot dynamic model and in accordance with the current estimate of the set of one or more inertial properties for the range of dynamic motion of the plurality of ranges of dynamic motion for the real-world robot, a respective plurality of simulated joint physical parameter values corresponding to each of the plurality of joint physical parameter measurements for the range of dynamic motion;
- and
- adjusting, by the robot management system, the current estimate of the set of one or more inertial properties to generate an updated estimate of the set of one or more inertial properties utilized by the virtual robot dynamic model for the range of dynamic motion to reduce a difference between the determined plurality of simulated joint physical parameter values and the corresponding plurality of joint physical parameter measurements;
- and
- providing, by the robot management system and to the virtual robot dynamic model for the plurality of ranges of dynamic motion, the updated estimate of the set of one or more inertial properties.
8 more elements
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 operating a real-world robot, a plurality of ranges of dynamic motion for the real-world robot, each range of dynamic motion for the real-world robot comprising a respective plurality of joint physical parameter measurements;
- receiving, by the robot management system, a current estimate for a set 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;
- for each range of dynamic motion of the plurality of ranges of dynamic motion for the real-world robot:
- determining, by the robot management system and using the virtual robot dynamic model and in accordance with the current estimate of the set of one or more inertial properties for the range of dynamic motion of the plurality of ranges of dynamic motion for the real-world robot, a respective plurality of simulated joint physical parameter values corresponding to each of the plurality of joint physical parameter measurements for the range of dynamic motion;
- and
- adjusting, by the robot management system, the current estimate of the set of one or more inertial properties to generate an updated estimate of the set of one or more inertial properties utilized by the virtual robot dynamic model for the range of dynamic motion to reduce a difference between the determined plurality of simulated joint physical parameter values and the corresponding plurality of joint physical parameter measurements;
- and
- providing, by the robot management system and to the virtual robot dynamic model for the plurality of ranges of dynamic motion, the updated estimate of the set of one or more inertial properties.
5 more elements
Dependencies are inferred from the claim text.