Control of robotic devices with non-constant body pitch

US11851120B2 · kind B2 · utility

Assignee

• Boston Dynamics, Inc. · US

Inventors

• Gina Christine Fay · Waltham, US
• Alex Khripin · Cambridge, US
• Eric Whitman · Waltham, US

Key dates

• Filing date: Jun 16, 2021
• Grant date: Dec 26, 2023
• Expiry date: Oct 27, 2041

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J9/1664
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.