Sensor fusion
First Claim
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1. A method performed by one or more processors of a robot, the method comprising:
- determining a first measure of a property of the robot for a first time,wherein determining the first measure is based on first sensor data from a first group of sensors of the robot,wherein the first group of the sensors includes at least a given sensor of the sensors of the robot, andwherein the first sensor data for the given sensor directly indicates a known value, for a given variable, that is utilized in determining the first measure;
determining a second measure of the property of the robot for the first time,wherein determining the second measure is based on second sensor data from a second group of the sensors of the robot,wherein the second group of the sensors excludes the given sensor and includes at least one additional sensor that is not included in the first group, andwherein no known value for the given variable is directly indicated by the second sensor data and wherein no known value for the given variable is utilized in determining the second measure;
determining a final measure of the property of the robot for the first time based on the first measure and the second measure;
generating one or more control commands based on the final measure of the property; and
providing the one or more control commands to one or more actuators of the robot to control the one or more actuators based on the one or more control commands.
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Abstract
Methods, apparatus, and computer readable media applicable to robots, such as balancing robots. Some implementations are directed to determining multiple measures of a property of a robot for a given time and determining a final measure of the property of the robot for the given time based on the multiple measures. One or more control commands may be generated based on the final measure of the property and provided to one or more actuators of the robot.
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Citations
20 Claims
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1. A method performed by one or more processors of a robot, the method comprising:
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determining a first measure of a property of the robot for a first time, wherein determining the first measure is based on first sensor data from a first group of sensors of the robot, wherein the first group of the sensors includes at least a given sensor of the sensors of the robot, and wherein the first sensor data for the given sensor directly indicates a known value, for a given variable, that is utilized in determining the first measure; determining a second measure of the property of the robot for the first time, wherein determining the second measure is based on second sensor data from a second group of the sensors of the robot, wherein the second group of the sensors excludes the given sensor and includes at least one additional sensor that is not included in the first group, and wherein no known value for the given variable is directly indicated by the second sensor data and wherein no known value for the given variable is utilized in determining the second measure; determining a final measure of the property of the robot for the first time based on the first measure and the second measure; generating one or more control commands based on the final measure of the property; and providing the one or more control commands to one or more actuators of the robot to control the one or more actuators based on the one or more control commands. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method performed by one or more processors of a balancing robot, the method comprising:
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determining a first measure of a property of the balancing robot for a first time, wherein determining the first measure comprises determining a solution for an unknown variable and using the solution as the first measure, wherein determining the solution is based on first sensor data from a first group of sensors of the balancing robot, wherein the first group of the sensors includes at least a given sensor of the sensors of the balancing robot, and wherein the first sensor data does not directly indicate the solution for the unknown variable; determining a second measure of the property of the balancing robot for the first time, wherein determining the second measure comprises determining an additional solution for the unknown variable and using the additional solution as the second measure; wherein determining the additional solution is based on second sensor data from a second group of the sensors of the balancing robot, wherein the second group of the sensors excludes the given sensor and includes at least one additional sensor that is not included in the first group, and wherein the second sensor data does not directly indicate the additional solution for the unknown variable; determining a final measure of the property of the balancing robot for the first time based on the first measure and the second measure; generating one or more control commands based on the final measure of the property; and providing the one or more control commands to one or more actuators of the balancing robot to control the one or more actuators based on the one or more control commands. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A balancing robot, comprising:
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a plurality of actuators; a plurality of sensors, the sensors omitting any sensor that directly measures a particular property of the balancing robot; one or more processors receiving sensor data from the sensors, wherein the one or more processors are to; determine a first measure of the particular property of the balancing robot for a first time, wherein determining the first measure comprises determining a solution for an unknown variable and using the solution as the first measure, and wherein determining the solution is based on first sensor data from a first group of the sensors of the balancing robot; determine a second measure of the particular property of the balancing robot for the first time, wherein determining the second measure comprises determining an additional solution for the unknown variable and using the additional solution as the second measure, and wherein determining the additional solution is based on second sensor data from a second group of the sensors of the balancing robot; determine a final measure of the property of the balancing robot for the first time based on the first measure and the second measure; generate one or more control commands based on the final measure of the property; and provide the one or more control commands to one or more of the actuators of the balancing robot to control the one or more of the actuators based on the one or more control commands.
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Specification