Natural pitch and roll
First Claim
1. A method comprising:
- receiving, from a plurality of sensors connected to a robot, a plurality of measurements indicative of respective joint angles of jointed limbs connected to a body of the robot;
receiving a body orientation measurement indicative of an orientation of the body of the robot;
estimating an aggregate orientation of the robot based on the plurality of measurements and the body orientation measurement;
determining that the estimated aggregate orientation is unstable based on a particular angle of the estimated aggregate orientation having more than a non-zero threshold value, wherein the particular angle is one of a yaw angle, a pitch angle, or a roll angle; and
in response to determining that the estimated aggregate orientation is unstable, providing instructions to control at least one of the jointed limbs to cause the robot to assume an alternative aggregate orientation in which the particular angle has less than the non-zero threshold value.
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Accused Products
Abstract
A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.
48 Citations
20 Claims
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1. A method comprising:
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receiving, from a plurality of sensors connected to a robot, a plurality of measurements indicative of respective joint angles of jointed limbs connected to a body of the robot; receiving a body orientation measurement indicative of an orientation of the body of the robot; estimating an aggregate orientation of the robot based on the plurality of measurements and the body orientation measurement; determining that the estimated aggregate orientation is unstable based on a particular angle of the estimated aggregate orientation having more than a non-zero threshold value, wherein the particular angle is one of a yaw angle, a pitch angle, or a roll angle; and in response to determining that the estimated aggregate orientation is unstable, providing instructions to control at least one of the jointed limbs to cause the robot to assume an alternative aggregate orientation in which the particular angle has less than the non-zero threshold value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A robot comprising:
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a body; a plurality of jointed limbs connected to the body; a plurality of sensors configured to provide a plurality of measurements indicative of respective joint angles of the plurality of jointed limbs; a body orientation sensor connected to the body and configured to provide a body orientation measurement indicative of an orientation of the body of the robot; a control system configured to; receive, from the plurality of sensors, the plurality of measurements; receive, from the body orientation sensor, the body orientation measurement; estimate an aggregate orientation of the robot based on the plurality of measurements and the body orientation measurement; determine that the estimated aggregate orientation is unstable based on a particular angle of the estimated aggregate orientation having more than a non-zero threshold value, wherein the particular angle is one of a yaw angle, a pitch angle, or a roll angle; and in response to determining that the estimated aggregate orientation is unstable, control at least one of the plurality of jointed limbs to cause the robot to assume an alternative aggregate orientation in which the particular angle has less than the non-zero threshold value. - View Dependent Claims (14, 15, 16, 17)
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18. A non-transitory computer readable storage medium having stored thereon instructions that, when executed by a computing device, cause the computing device to perform operations comprising:
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receiving, from a plurality of sensors connected to a robot, a plurality of measurements indicative of respective joint angles of jointed limbs connected to a body of the robot; receiving a body orientation measurement indicative of an orientation of the body of the robot; estimating an aggregate orientation of the robot based on the plurality of measurements and the body orientation measurement; determining that the estimated aggregate orientation is unstable based on a particular angle of the estimated aggregate orientation having more than a non-zero threshold value, wherein the particular angle is one of a yaw angle, a pitch angle, or a roll angle; and in response to determining that the estimated aggregate orientation is unstable, providing instructions to control at least one of the jointed limbs to cause the robot to assume an alternative aggregate orientation in which the particular angle has less than the non-zero threshold value. - View Dependent Claims (19, 20)
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Specification