Predictively adjustable hydraulic pressure rails

A method comprising:

• causing, by one or more processors, a robotic device to perform a task that involves actuating a plurality of hydraulic actuators of the robotic device, wherein the plurality of hydraulic actuators are disposed upon a limb of the robotic device, and wherein causing the robotic device to perform the task comprises (i) causing a pump of a hydraulic drive system to supply hydraulic fluid at a first pressure to at least one of the plurality of hydraulic actuators, and (ii) causing the plurality of hydraulic actuators to follow respective task trajectories;
• during performance of the task, repeatedly tracking, by the one or more processors over a pre-determined period of time, respective actuator trajectories of the plurality of hydraulic actuators that perform a portion of the task;
• based on the tracked respective actuator trajectories, determining, by the one or more processors, a plurality of deviations of the respective tracked actuator trajectories from the respective task trajectories;
• after the pre-determined period of time and responsive to the determination of the plurality of deviations, predict, based on the tracked respective actuator trajectories, a second pressure with which to actuate the at least one of the plurality of hydraulic actuators during a subsequent portion of the task;
• causing, by the one or more processors, the pump of the hydraulic drive system to adjust pressure of the supplied hydraulic fluid from the first pressure to the second pressure during a non-instantaneous adjustment period before performing the subsequent portion of the task;
• and
• after the non-instantaneous adjustment period, causing, by the one or more processors, the hydraulic drive system to supply hydraulic fluid at the second pressure to the at least one of the plurality of hydraulic actuators during the subsequent portion of the task.

A non-transitory computer-readable medium, having stored thereon program instructions that, upon execution by one or more processors, cause a robotic device to perform operations comprising:

• causing the robotic device to perform a task that involves actuating a plurality of hydraulic actuators of the robotic device, wherein the plurality of hydraulic actuators are disposed upon a limb of the robotic device, and wherein causing the robotic device to perform the task comprises (i) causing a pump of a hydraulic drive system to supply hydraulic fluid at a first pressure to at least one of the plurality of hydraulic actuators, and (ii) causing the plurality of hydraulic actuators to follow respective task trajectories;
• during performance of the task, repeatedly tracking, over a pre-determined period of time, respective actuator trajectories of the plurality of hydraulic actuators that perform a portion of the task;
• based on the tracked respective actuator trajectories, determining a plurality of deviations of the respective tracked actuator trajectories from the respective task trajectories;
• after the pre-determined period of time and responsive to the determination of the plurality of deviations, predict, based on the tracked respective actuator trajectories, a second pressure with which to actuate the at least one of the plurality of hydraulic actuators during a subsequent portion of the task;
• causing the pump of the hydraulic drive system to adjust pressure of the supplied hydraulic fluid from the first pressure to the second pressure during a non-instantaneous adjustment period before performing the subsequent portion of the task;
• and
• after the non-instantaneous adjustment period, causing the pump of the hydraulic drive system to supply hydraulic fluid at the second pressure to the at least one of the plurality of hydraulic actuators during the subsequent portion of the task.