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.
Claims21
1-27. (canceled)
A method of manipulating an object using a mobile manipulation robot, the method comprising:
- planning a trajectory of the object;
- moving the object along the trajectory using the mobile manipulation robot;
- estimating one or more mass characteristics of the object while the object is in motion along the trajectory;
- and
- modifying an operation of the mobile manipulation robot based, at least in part, on the estimated one or more mass characteristics.
A mobile manipulation robot, comprising:
- a robotic arm;
- one or more sensors;
- and
- a controller configured to:
- plan a trajectory of an object;
- control the robotic arm to move the object along the trajectory using the mobile manipulation robot;
- estimate using information received from the one or more sensors, one or more mass characteristics of the object while the object is in motion along the trajectory;
- and
- modify an operation of the mobile manipulation robot based, at least in part, on the estimated one or more mass characteristics.
Dependencies are inferred from the claim text.