WO2018111653A1 - Whole body manipulation on a legged robot using dynamic balance - Google Patents

Whole body manipulation on a legged robot using dynamic balance Download PDF

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Publication number
WO2018111653A1
WO2018111653A1 PCT/US2017/064939 US2017064939W WO2018111653A1 WO 2018111653 A1 WO2018111653 A1 WO 2018111653A1 US 2017064939 W US2017064939 W US 2017064939W WO 2018111653 A1 WO2018111653 A1 WO 2018111653A1
Authority
WO
WIPO (PCT)
Prior art keywords
control system
intermediate body
section
legs
moment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2017/064939
Other languages
English (en)
French (fr)
Inventor
Kevin Blankespoor
Benjamin Stephens
Nicolas Hudson
Yeuhi Abe
Jennifer BARRY
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Boston Dynamics Inc
Original Assignee
Boston Dynamics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Boston Dynamics Inc filed Critical Boston Dynamics Inc
Priority to EP21169858.4A priority Critical patent/EP3875229B1/en
Priority to JP2019521396A priority patent/JP6823172B2/ja
Priority to EP17818404.0A priority patent/EP3554773B1/en
Priority to CN201780075045.7A priority patent/CN110035872B/zh
Priority to EP23209082.9A priority patent/EP4296151A3/en
Priority to CN202210480461.8A priority patent/CN114800509B/zh
Publication of WO2018111653A1 publication Critical patent/WO2018111653A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40298—Manipulator on vehicle, wheels, mobile
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Definitions

  • Figure 2 illustrates a quadruped robot according to an example
  • robotic system 100 may be connected in any manner, including wired or wireless connections. Further, in some examples,
  • Mechanical components 110 represent hardware of the robotic system 100 that may enable the robotic system 100 to perform physical operations.
  • the robotic system 100 may include physical members such as leg(s), arm(s), and/or wheel(s).
  • the physical members or other parts of robotic system 100 may further include actuators arranged to move the physical members in relation to one another.
  • the robotic system 100 may also include one or more structured bodies for housing the control system 118 and/or other components, and may further include other types of mechanical components.
  • the particular mechanical components 110 used in a given robot may vary based on the design of the robot, and may also be based on the operations and/or tasks the robot may be configured to perform.
  • Figure 6 illustrates an example process 500 for manipulating the lower body section 408a to support activities performed by the upper body 408b.
  • the upper body control system 417b operates at least one of the end-effectors 422, 424.
  • the at least one end-effector 422, 424 experiences an end-effector force Fei, Fe2 based on the operation by the upper body control system 417b.
  • the intermediate body section 408c experiences at least one of a first intermediate body linear force Fi or a first intermediate body moment Mi based on the end-effector force Fei, Fe2.
  • the upper body control system 417b communicates, to the lower body control system, information relating to the first intermediate body linear force Fi and the first intermediate body moment Mi.
  • a computer-readable medium may include non-transitory computer-readable media such as computer-readable media that stores data for short periods of time like register memory, processor cache, and/or random access memory (RAM).
  • the computer-readable media may also include non-transitory computer-readable media that stores program code and/or data for longer periods of time, such as secondary or persistent long term storage, like read only memory (ROM), optical or magnetic disks, and/or compact-disc read only memory (CD-ROM), for example.
  • the computer-readable media may also be any other volatile or non-volatile storage systems.
  • a computer- readable medium may be considered a computer-readable storage medium, for example, or a tangible storage device.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
PCT/US2017/064939 2016-12-13 2017-12-06 Whole body manipulation on a legged robot using dynamic balance Ceased WO2018111653A1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP21169858.4A EP3875229B1 (en) 2016-12-13 2017-12-06 Whole body manipulation on a legged robot using dynamic balance
JP2019521396A JP6823172B2 (ja) 2016-12-13 2017-12-06 動的バランスを使用する脚ロボットに対する全身マニピュレーション
EP17818404.0A EP3554773B1 (en) 2016-12-13 2017-12-06 Whole body manipulation on a legged robot using dynamic balance
CN201780075045.7A CN110035872B (zh) 2016-12-13 2017-12-06 机器人系统和用于控制机器人系统的方法
EP23209082.9A EP4296151A3 (en) 2016-12-13 2017-12-06 Whole body manipulation on a legged robot using dynamic balance
CN202210480461.8A CN114800509B (zh) 2016-12-13 2017-12-06 机器人系统和用于控制机器人系统的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/377,559 US10351189B2 (en) 2016-12-13 2016-12-13 Whole body manipulation on a legged robot using dynamic balance
US15/377,559 2016-12-13

Publications (1)

Publication Number Publication Date
WO2018111653A1 true WO2018111653A1 (en) 2018-06-21

Family

ID=60782391

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2017/064939 Ceased WO2018111653A1 (en) 2016-12-13 2017-12-06 Whole body manipulation on a legged robot using dynamic balance

Country Status (5)

Country Link
US (4) US10351189B2 (enExample)
EP (3) EP3554773B1 (enExample)
JP (3) JP6823172B2 (enExample)
CN (2) CN114800509B (enExample)
WO (1) WO2018111653A1 (enExample)

Cited By (1)

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US12172719B2 (en) 2016-12-13 2024-12-24 Boston Dynamics, Inc. Whole body manipulation on a legged robot using dynamic balance

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CN109987169B (zh) * 2017-12-29 2021-01-08 深圳市优必选科技有限公司 双足机器人的步态控制方法、装置、终端设备及介质
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US10751888B2 (en) 2018-10-04 2020-08-25 Advanced Intelligent Systems Inc. Manipulator apparatus for operating on articles
US10645882B1 (en) 2018-10-29 2020-05-12 Advanced Intelligent Systems Inc. Method and apparatus for performing pruning operations using an autonomous vehicle
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CN114283229B (zh) * 2021-11-19 2025-07-11 腾讯科技（深圳）有限公司 虚拟角色的行走动画生成方法、装置、设备及存储介质
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CN116079736B (zh) * 2023-02-21 2024-08-13 中国兵器装备集团自动化研究所有限公司 一种机械臂末端稳定方法、装置、设备及存储介质
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US12172719B2 (en) 2016-12-13 2024-12-24 Boston Dynamics, Inc. Whole body manipulation on a legged robot using dynamic balance

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