Handling gait disturbances with asynchronous timing

• US 9,387,588 B1
• Filed: 08/25/2014
• Issued: 07/12/2016
• Est. Priority Date: 08/25/2014
• Status: Active Grant

• Current Assignee: Boston Dynamics, Inc. (SoftBank Group Corp.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Stephens, Benjamin, Blankespoor, Kevin, da Silva, Marco
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US14/468,118
• Time in Patent Office: 687 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/16 Programme controls programme controls in general G05B19/00, e.g. numerical pogramme controls G05B19/18; recording or playback systems G05B19/42
• CPC Class Codes: B25J 9/1628 characterised by the control loop
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• 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
• CPC Class Codes: Y10S 901/49 Protective device

Abstract

An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.

Claims

1. A method comprising:

detecting a disturbance to a gait of a robot, wherein the gait comprises a swing state and a step down state, the swing state comprising a target swing trajectory for a first foot of the robot during a step, and wherein the target swing trajectory during the step comprises a beginning at a first time, and an end at a second time;

based on the detected disturbance, causing the first foot of the robot to leave the swing state and enter the step down state before the second time;

after causing the first foot to enter the step down state before the second time, causing the first foot to make contact with a ground surface; and

based on the first foot making contact with the ground surface, causing a second foot to lift off of the ground surface.

2. The method of claim 1, the method further comprising:

before detecting the disturbance to the gait of the robot, determining the target swing trajectory for the first foot of the robot during the step.

3. The method of claim 1, the method further comprising:

determining a desired velocity for the first foot with respect to a body of the robot, wherein the first foot is coupled to the body via a leg, wherein causing the first foot to contact the ground surface comprises

causing the first foot of the robot to contact the ground surface at the desired velocity.

4. The method of claim 3, wherein the desired velocity comprises a forward component, the method further comprising:

before determining the desired velocity for the first foot, determining a current velocity of the robot with respect to the ground surface, wherein the current velocity comprises a forward component, and wherein the forward component of the desired velocity is equal to and opposite the forward component of the current velocity of the robot with respect to the ground surface.

5. The method of claim 1, wherein the gait further comprises a target location for the first foot of the robot to make contact with a ground surface, wherein causing the first foot to contact with the ground surface comprises

causing the first foot of the robot to contact the ground surface at a location different than the target location.

6. The method of claim 1, wherein the gait of the robot further comprises a stance state, and wherein the disturbance comprises a slip of the second foot of the robot while the second foot is in the stance state.

7. The method of claim 6, wherein the robot comprises a first leg and a second leg, the second leg comprising the second foot, and wherein detecting the disturbance to the gait of the robot further comprises detecting that the second foot has lost contact with the ground surface, the method further comprising:

based on the detecting that the second foot has lost contact with the ground surface, causing the second foot to make contact with the ground surface by extending the second leg.

8. The method of claim 6, the method further comprising

before detecting the disturbance to the gait of the robot, determining an indication of a threshold slip distance, wherein the slip is greater than the threshold slip distance;

and

based on the detected disturbance and before causing the foot of the robot to enter the step down state, increasing the threshold slip distance.

9. The method of claim 1, the method further comprising:

before detecting the disturbance to the gait of the robot, determining a representation of a first coefficient of friction between the first foot of the robot and a ground surface; and

based on the detected disturbance and before causing the first foot of the robot to enter the step down state, updating the representation of the coefficient of friction between the first foot of the robot and the ground surface, wherein the updated representation is less than the first representation.

10. The method of claim 1, wherein the robot comprises a first leg and a second leg, the first leg comprising the first foot, and wherein the detected disturbance is an indication that the target swing trajectory of the first foot of the robot is within a threshold distance of the second leg of the robot.

11. The method of claim 1, wherein the robot comprises a first leg and a second leg, the first leg comprising the first foot, the second leg comprising at least one actuator having a range of motion limit, and wherein the detected disturbance is an indication that the at least one actuator of the second leg reached the range of motion limit.

12. A method comprising:

determining, by a robot having a first foot and a second foot, a gait comprising a swing state and a stance state, the swing state comprising a target swing trajectory for the first foot of the robot during a step, wherein the target swing trajectory during the step comprises a beginning at a first time, and an end at a second time;

detecting an indication that the first foot of the robot has contacted a ground surface before the second time; and

based on the detected indication, causing the second foot of the robot to lift off of the ground surface.

13. The method of claim 12, wherein the robot further comprises a third foot in the swing state, the method further comprising:

before causing the second foot of the robot to lift off of the ground surface, detecting an indication that the third leg of the robot contacted the ground surface, wherein causing the second foot of the robot to lift off of the ground surface is further based on the detected indication of the third leg contacting the ground surface.

14. The method of claim 12, wherein the indication that the first foot of the robot has contacted the ground surface comprises an indication of an early touchdown location, the method further comprising:

determining a desired touchdown location for the first foot; and

before causing the second foot of the robot to lift off of the ground surface, determining that the desired touchdown location is diverging from the early touchdown location for the first foot, wherein causing the second foot of the robot to lift off of the ground surface is further based on the determination that the desired touchdown location is diverging from the early touchdown location for the first foot.

15. The method of claim 12, the method further comprising:

before detecting the indication that the first foot of the robot has contacted the ground surface before the second time, determining a target ground reaction force for the first foot;

based on the detected indication, determining an adjusted ground reaction force for the first foot, wherein the adjusted ground reaction force is less than the target ground reaction force; and

before causing the second foot of the robot to lift off of the ground surface, causing the first foot to apply a force to the ground surface equal to and opposing the adjusted ground reaction force.

16. The method of claim 12, the method further comprising:

before causing the second foot of the robot to lift off of the ground surface, determining a first force exerted on the robot based on the first foot contacting the ground surface before the second time;

based on the first force, determining a second force that opposes the first force; and

before causing the second foot of the robot to lift off of the ground surface, causing the second foot to apply the second force to the robot via contact with the ground surface.

17. A method comprising:

determining, by a robot having a first foot and a second foot, a gait for the robot wherein the gait comprises a swing state and a stance state, wherein the swing state comprises a target swing trajectory having a beginning at a first time and an end at a second time;

detecting, while the first foot of the robot is in the swing state, an indication that the first foot has not contacted a ground surface by the second time; and

based on the detected indication, reducing a ground reaction force on the second foot in contact with the ground surface.

18. The method of claim 17, wherein the robot further comprises a body coupled to the first foot and the second foot, and wherein reducing the ground reaction force on the second foot in contact with the ground surface comprises lowering the body of the robot on the second foot with respect to the ground.

19. The method of claim 18, wherein lowering the body of the robot on the second foot with respect to the ground comprises lowering the body until the robot detects one of i) an indication that the first foot of the robot contacted the ground, or ii) an indication that the body has been lowered a threshold distance.

20. The method of claim 19, the method further comprising:

detecting an indication that the body has been lowered the threshold distance; and

based on the detected indication, causing the first foot to enter the stance state and causing the second foot to enter the swing state.