Robot movement and interaction with massive bodies
AssigneeBoston Dynamics, Inc.
InventorsFrans Anton Koolen, Robin Deits
Life of this patent
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Abstract
The invention includes systems and methods for determining movement of a robot. A computing system of the robot receives information comprising a reference behavior specification, a current state of the robot, and a characteristic of a massive body coupled to or expected to be coupled to the robot. The computing system determines, based on the information, a set of movement parameters for the robot, the set of movement parameters reflecting a goal trajectory for the robot. The computing system instructs the robot to move consistent with the set of movement parameters.
Claims24
A computer-implemented method comprising:
- receiving, by a computing system of a mobile robot, information comprising a reference behavior specification, a current state of the mobile robot, and a characteristic of one or more massive bodies coupled to or expected to be coupled to the mobile robot;
- determining, by the computing system, based on the information, a set of movement parameters for the mobile robot, the set of movement parameters reflecting a goal trajectory for the mobile robot, wherein the set of movement parameters is determined, in part, to maintain balance of the mobile robot;
- and
- instructing, by the computing system, the mobile robot to move consistent with the set of movement parameters.
A computing system of a mobile robot 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 information comprising a reference behavior specification, a current state of the mobile robot, and a characteristic of one or more massive bodies coupled to or expected to be coupled to the mobile robot;
- determining, based on the information, a set of movement parameters for the mobile robot, the set of movement parameters reflecting a goal trajectory for the mobile robot, wherein the set of movement parameters is determined, in part, to maintain balance of the mobile robot;
- and
- instructing the mobile robot to move consistent with the set of movement parameters.
Dependencies are inferred from the claim text.