Determination of robotic step path

• US 10,239,208 B1
• Filed: 08/21/2018
• Issued: 03/26/2019
• Est. Priority Date: 09/15/2015
• Status: Active Grant

• Current Assignee: Boston Dynamics, Inc. (SoftBank Group Corp.)
• Original Assignee: Boston Dynamics, Inc. (SoftBank Group Corp.)
• Inventors: Swilling, Benjamin
• Primary Examiner(s): Bendidi, Rachid
• Application Number:
  US16/106,402
• Time in Patent Office: 217 Days
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 Sensing device

Abstract

A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.

Claims

1. A method comprising:

generating, by a computing device, a first potential step path and a second potential step path for a robot having feet;

generating, by the computing device, a first potential capture point trajectory associated with the first potential step path and a second potential capture point trajectory associated with the second potential step path;

obtaining, by the computing device, one or more constraints indicative of physical limitations of the robot;

determining, by the computing device, whether the first potential step path and the second potential step path violates any of the one or more constraints indicative of the physical limitations of the robot;

obtaining, by the computing device, a reference step path comprising a reference capture point trajectory comprising a set of spatial points on a surface that define respective target touchdown locations for the feet of the robot;

determining, by the computing device, a first error value based on;

any differences between the reference capture point trajectory of the reference step path and the first potential capture point trajectory associated with the first potential step path; and

whether the first potential step path violates any of the one or more constraints indicative of the physical limitations of the robot;

determining, by the computing device, a second error value based on;

any differences between the reference capture point trajectory of the reference step path and the second potential capture point trajectory associated with the second potential step path; and

whether the second potential step path violates any of the one or more constraints indicative of the physical limitations of the robot;

selecting, by the computing device, a particular step path of the first potential step path and the second potential step path based on the first error value and the second error value that does not violate the one or more constraints indicative of the physical limitations of the robot; and

instructing, by the computing device, movement of one of the feet of the robot toward a touchdown location of the particular step path.

2. The method of claim 1, wherein the reference capture point trajectory defines a predicted path that a center of pressure of the robot would travel along provided that the robot stepped in accordance with the reference step path.

3. The method of claim 1, wherein the reference capture point trajectory is based on the reference step path, a velocity of the robot, and positions of the feet of the robot.

4. The method of claim 1, wherein

determining the first error value comprises:

squaring a difference between the reference capture point trajectory and the first potential capture point trajectory to determine a squared capture point trajectory error; and

multiplying the squared capture point trajectory error by a capture point trajectory weight value.

5. The method of claim 1, wherein the reference capture point trajectory includes reference capture point locations, wherein the first potential capture point trajectory includes potential capture point locations, wherein each reference capture point location corresponds to a particular potential capture point location, and wherein determining the first error value comprises:

determining relative potential capture point locations as differences between the potential capture point locations and corresponding spatial points for legs of the robot defined by the first potential step path;

determining relative reference capture point locations as differences between the reference capture point locations and corresponding spatial points for legs of the robot defined by the reference step path;

determining capture point displacement values as differences between the relative potential capture point locations and the respective relative reference capture point locations; and

determining the first error value based on a sum of the capture point displacement values.

6. The method of claim 1, further comprising:

for a set of spatial points, determining, by the computing device, corresponding capture points as linear combinations of a position of the robot, a velocity of the robot, and positions of the feet of the robot; and

generating, by the computing device, the reference capture point trajectory as a combination of the determined capture points.

7. The method of claim 1, further comprising:

obtaining, by the computing device, a model of the robot, wherein the model indicates a manner in which the robot is expected to move when stepping in accordance with a step path; and

based on the reference step path, a state of the robot, and the model of the robot, predicting, by the computing device, a future state of the robot; and

based on the predicted future state of the robot and the reference step path, generating, by the computing device, the reference capture point trajectory.

8. The method of claim 1, further comprising, after a length of time from instructing the movement of one of the feet of the robot toward the touchdown location of the particular step path:

obtaining, by the computing device, a second reference step path;

generating, by the computing device, a second reference capture point trajectory based on the second reference step path;

obtaining, by the computing device, a third potential step path and a fourth potential step path for the robot;

selecting, by the computing device, a second particular potential step path from the third potential step path and the fourth potential step path; and

instructing, by the computing device, stepping in accordance with the second particular step path.

9. The method of claim 1, wherein the robot comprises a respective leg coupled to each foot, and the reference step path further comprises respective amounts of force for each respective leg to apply when the feet are in contact with the surface at the respective target touchdown locations.

10. The method of claim 1, wherein determining the first error value comprises multiplying a difference between the reference step path and the first potential step path by a step path weight value.

11. The method of claim 10, wherein the step path weight value corresponds to a particular stepping behavior.

12. The method of claim 1, further comprising:

receiving, at the computing device, an input steering command indicative of a velocity and yaw; and

generating, by the computing device, the reference step path based on the input steering command.

13. The method of claim 1, wherein generating the first potential step path and the second potential step path comprises:

generating a template step path based on a model of the robot; and

generating the first potential step path and the second potential step path as variations of the template step path.

14. The method of claim 13, wherein the generating the first potential step path and the second potential step path as variations of the template step path comprises generating the first potential step path and the second potential step path to counteract or attenuate lateral motion of the robot.

15. The method of claim 1, further comprising:

after instructing the movement of one of the feet of the robot toward the touchdown location of the particular step path, determining, by the computing device, that an external force has acted on the robot, wherein the touchdown location is on the surface; and

updating, by the computing device, the particular step path to accommodate for the external force before the foot instructed for movement touches the surface.

16. A robot comprising:

feet configured for movement with respect to a surface; and

a control system in communication with the feet and configured to perform operations comprising;

generating a first potential step path and a second potential step path for the robot;

generating, by the computing device, a first potential capture point trajectory associated with the first potential step path and a second potential capture point trajectory associated with the second potential step path;

obtaining, by the computing device, one or more constraints indicative of physical limitations of the robot;

determining, by the computing device, whether the first potential step path and the second potential step path violates any of the one or more constraints indicative of the physical limitations of the robot;

obtaining, by the computing device, a reference step path comprising a reference capture point trajectory comprising a set of spatial points on a surface that define respective target touchdown locations for the feet;

determining, by the computing device, a first error value based on;

any differences between the reference capture point trajectory of the reference step path and the first potential capture point trajectory associated with the first potential step path; and

whether the first potential step path violates any of the one or more constraints indicative of the physical limitations of the robot;

determining, by the computing device, a second error value based on;

any differences between the reference capture point trajectory of the reference step path and the second potential capture point trajectory associated with the second potential step path; and

whether the second potential step path violates any of the one or more constraints indicative of the physical limitations of the robot;

selecting, by the computing device, a particular step path of the first potential step path and the second potential step path based on the first error value and the second error value that does not violate the one or more constraints indicative of the physical limitations of the robot; and

instructing movement of one of the feet toward a touchdown location of the particular step path.

17. The robot of claim 16, wherein the reference capture point trajectory defines a predicted path that a center of pressure of the robot would travel along provided that the robot stepped in accordance with the reference step path.

18. The robot of claim 16, wherein the reference capture point trajectory is based on the reference step path, a velocity of the robot, and positions of the feet of the robot.

19. The robot of claim 16, wherein determining the first error value comprises:

squaring a difference between the reference capture point trajectory and the first potential capture point trajectory to determine a squared capture point trajectory error; and

multiplying the squared capture point trajectory error by a capture point trajectory weight value.

20. The robot of claim 16, wherein the reference capture point trajectory includes reference capture point locations, wherein the first potential capture point trajectory includes potential capture point locations, wherein each reference capture point location corresponds to a particular potential capture point location, and wherein determining the first error value comprises:

determining relative potential capture point locations as differences between the potential capture point locations and corresponding spatial points for legs of the robot defined by the first potential step path;

determining relative reference capture point locations as differences between the reference capture point locations and corresponding spatial points for legs of the robot defined by the reference step path;

determining capture point displacement values as differences between the relative potential capture point locations and the respective relative reference capture point locations; and

determining the first error value based on a sum of the capture point displacement values.

21. The robot of claim 16, wherein the operations further comprise:

for a set of spatial points, determining corresponding capture points as linear combinations of a position of the robot, a velocity of the robot, and positions of the feet of the robot; and

generating the reference capture point trajectory as a combination of the determined capture points.

22. The robot of claim 16, wherein the operations further comprise:

obtaining a model of the robot, wherein the model indicates a manner in which the robot is expected to move when stepping in accordance with a step path; and

based on the reference step path, a state of the robot, and the model of the robot, predicting a future state of the robot; and

based on the predicted future state of the robot and the reference step path, generating the reference capture point trajectory.

23. The robot of claim 16, wherein the operations further comprise, after a length of time from instructing the movement of one of the feet of the robot toward the touchdown location of the particular step path:

obtaining a second reference step path;

generating a second reference capture point trajectory based on the second reference step path;

obtaining a third potential step path and a fourth potential step path for the robot;

selecting a second particular potential step path from the third potential step path and the fourth potential step path; and

instructing stepping in accordance with the second particular step path.

24. The robot of claim 16, wherein the robot comprises a respective leg coupled to each foot, and the reference step path further comprises respective amounts of force for each respective leg to apply when the feet are in contact with the surface at the respective target touchdown locations.

25. The robot of claim 16, wherein determining the first error value comprises multiplying a difference between the reference step path and the first potential step path by a step path weight value.

26. The robot of claim 25, wherein the step path weight value corresponds to a particular stepping behavior.

27. The robot of claim 16, wherein the operations further comprise:

receiving an input steering command indicative of a velocity and yaw; and

generating the reference step path based on the input steering command.

28. The robot of claim 16, wherein generating the first potential step path and the second potential step path comprises:

generating a template step path based on a model of the robot; and

generating the first potential step path and the second potential step path as variations of the template step path.

29. The robot of claim 28, wherein the generating the first potential step path and the second potential step path as variations of the template step path comprises generating the first potential step path and the second potential step path to counteract or attenuate lateral motion of the robot.

30. The robot of claim 16, wherein the operations further comprise:

after instructing the movement of one of the feet of the robot toward the touchdown location of the particular step path, determining that an external force has acted on the robot, wherein the touchdown location is on the surface; and

updating the particular step path to accommodate for the external force before the foot instructed for movement touches the surface.