Robot movement and online trajectory optimization

US11833680B2 · kind B2 · utility

Assignee

• Boston Dynamics, Inc. · US

Inventors

• Robin Deits · Lexington, US
• Scott Kuindersma · Arlington, US
• Matthew P. Kelly · Carlisle, US
• Twan Koolen · Pensacola, US
• Yeuhi Abe · Cambridge, US
• Benjamin Stephens · Cambridge, US

Key dates

• Filing date: Jun 25, 2021
• Grant date: Dec 5, 2023
• Expiry date: Dec 16, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40264
• WIPO field: Control
• WIPO sector: Instruments

Abstract

Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.