Dynamic mass estimation methods for an integrated mobile manipulator robot
AssigneeBoston Dynamics, Inc.
InventorsShervin Talebi, Neil Neville, Kevin Blankespoor
Life of this patent
Estimating the term…
Abstract
A method of estimating one or more mass characteristics of a payload manipulated by a robot includes moving the payload using the robot, determining one or more accelerations of the payload while the payload is in motion, sensing, using one or more sensors of the robot, a wrench applied to the payload while the payload is in motion, and estimating the one or more mass characteristics of the payload based, at least in part, on the determined accelerations and the sensed wrench.
Claims29
A method of estimating one or more mass characteristics of a payload manipulated by a robot, the method comprising:
- moving the payload using the robot, wherein the payload is grasped by an end effector of the robot;
- determining one or more accelerations of the payload while the payload is in motion;
- sensing, using one or more sensors of the robot, a wrench applied to the payload while the payload is in motion;
- estimating the one or more mass characteristics of the payload based, at least in part, on the determined accelerations and the sensed wrench;
- and
- planning, while the payload remains grasped by the end effector of the robot, a trajectory based, at least in part, on the estimated one or more mass characteristics of the payload.
A robot comprising:
- a robotic arm;
- an end effector operatively coupled to a distal portion of the robotic arm;
- one or more sensors;
- and
- a controller configured to:
- determine one or more accelerations of a payload grasped by the end effector of the robot while the payload is in motion;
- determine a wrench applied to the payload while the payload is in motion based on signals from the one or more sensors;
- estimate one or more mass characteristics of the payload based, at least in part, on the determined accelerations and the determined wrench;
- and
- plan, while the payload remains grasped by the end effector, a trajectory based, at least in part, on the estimated one or more mass characteristics of the payload.
Dependencies are inferred from the claim text.