Determination of robotic step path

• US 10,456,916 B2
• Filed: 02/15/2019
• Issued: 10/29/2019
• 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:
  US16/276,672
• Publication Number:
  US 20190176329A1
• Time in Patent Office: 256 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:

receiving, at a computing device, a reference step path comprising a reference capture point trajectory, the reference capture point trajectory comprising;

a set of spatial points on a surface that define respective target touchdown locations feasible for feet of a robot in view of physical capabilities and a current state of the robot while maintaining a stable center of pressure (CoP) of the robot; and

timing information regarding when to place the feet of the robot at the respective target touchdown locations, and how long each foot is to stay at the respective target touchdown location;

generating, by the computing device, a plurality of potential step paths and a respective potential capture point trajectory for each of the plurality of potential step paths, each respective potential capture point trajectory comprising a corresponding set of spatial points on the surface that define respective target touchdown locations for the feet of the robot;

for each given potential step path of the plurality of potential step paths, determining, by the computing device, an error value based on;

a difference between the reference capture point trajectory of the reference step path and the respective potential capture point trajectory of the given potential step path; and

a step path weight value corresponding to a particular stepping behavior of the robot;

selecting, by the computing device, a particular potential step path of the plurality of potential step paths wherein the error value of the particular potential step path satisfies a threshold error value, the threshold error value indicating a satisfactory level of deviation between the reference capture point trajectory and the particular potential step path; and

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

2. The method of claim 1, wherein the reference capture point trajectory defines a predicted path that the CoP 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 error value comprises:

squaring a difference between the reference capture point trajectory and the respective 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 comprises reference capture point locations, wherein the respective potential capture point trajectory comprises potential capture point locations, wherein each reference capture point location corresponds to a particular potential capture point location, and wherein determining the 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 a respective 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 a respective relative reference capture point locations; and

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

6. The method of claim 1, further comprising:

for the 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;

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

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

10. The method of claim 1, wherein receiving the reference step path comprises:

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.

11. The method of claim 1, wherein generating the respective potential step path comprises:

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

generating the plurality of potential step paths as variations of the template step path.

12. 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.

13. 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;

receiving a reference step path comprising a reference capture point trajectory, the reference capture point trajectory comprising;

a set of spatial points on a surface that define respective target touchdown locations feasible for feet in view of physical capabilities and a current state of the robot while maintaining a stable center of pressure (CoP) of the robot; and

timing information regarding when to place the feet at the respective target touchdown locations, and how long each foot is to stay at the respective target touchdown location;

generating a plurality of potential step paths and a respective potential capture point trajectory for each of the plurality of potential step paths, each respective potential capture point trajectory comprising a corresponding set of spatial points on the surface that define respective target touchdown locations for the feet;

for each given potential step path of the plurality of potential step paths, determining an error value based on;

a difference between the reference capture point trajectory of the reference step path and the respective potential capture point trajectory of the given potential step path; and

a step path weight value corresponding to a particular stepping behavior of the robot;

selecting a particular potential step path of the plurality of potential step paths wherein the error value of the particular potential step path satisfies a threshold error value, the threshold error value indicating a satisfactory level of deviation between the reference capture point trajectory and the particular potential step path; and

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

14. The robot of claim 13, wherein the reference capture point trajectory defines a predicted path that the CoP of the robot would travel along provided that the robot stepped in accordance with the reference step path.

15. The robot of claim 13, 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.

16. The robot of claim 13, wherein determining the error value comprises:

squaring a difference between the reference capture point trajectory and the respective 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.

17. The robot of claim 13, wherein the reference capture point trajectory comprises reference capture point locations, wherein the respective potential capture point trajectory comprises potential capture point locations, wherein each reference capture point location corresponds to a particular potential capture point location, and wherein the operation of determining the 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 a respective 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 a respective relative reference capture point locations; and

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

18. The robot of claim 13, wherein the operations further comprise:

for the 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.

19. The robot of claim 13, 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;

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

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

20. The robot of claim 13, further comprising 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.

21. The robot of claim 13, wherein determining the error value comprises multiplying a difference between the reference step path and the respective potential step path by the step path weight value.

22. The robot of claim 13, wherein receiving the reference step path comprises:

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

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

23. The robot of claim 13, wherein generating the respective potential step path comprises:

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

generating the plurality of potential step paths as variations of the template step path.

24. The robot of claim 13, 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.