Auto-height swing adjustment

• US 9,594,377 B1
• Filed: 05/12/2015
• Issued: 03/14/2017
• Est. Priority Date: 05/12/2015
• Status: Active Grant

• Current Assignee: Boston Dynamics, Inc. (SoftBank Group Corp.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Perkins, Alexander Douglas, Blankespoor, Kevin
• Primary Examiner(s): Cheung, Calvin
• Assistant Examiner(s): Martinez Borrero, Luis A
• Application Number:
  US14/709,830
• Time in Patent Office: 672 Days
• Field of Search: 701/1, 701/3, 701/23, 701/409, 701/432, 701/454, 701/468, 701/519, 701/533, 701/27, 701/512, 701/400, 701/433, 701/408, 701/450, 701/522, 701/534, 701/535, 701/25, 701/50, 901/1, 901/46, 901/47, 901/9, 901/16, 382/118, 382/103, 382/111, 382/113, 382/128, 382/158, 382/165, 382/176, 382/191, 700/254, 700/256, 700/258, 700/259, 700/264, 700/245, 700/250
• US Class Current: 1/1
• 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: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 2201/0217 Anthropomorphic or bipedal robot
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.

Claims

1. A control system comprising:

one or more processors;

a non-transitory computer readable medium; and

program instructions stored on the non-transitory computer readable medium and executable by the one or more processors to;

receive, from a robotic device, sensor data that indicates topographical features of an environment in which the robotic device is operating;

process the sensor data into a topographical map that includes a two-dimensional matrix of cells, the cells indicating sample heights of respective portions of the environment;

determine, for a first foot of the robotic device, a first pre-planned step path extending from a first lift-off location to a first touch-down location;

identify, within the topographical map, a first scan patch of cells that encompass the first pre-planned step path;

determine that a first high point among the first scan patch of cells is greater than a threshold obstacle height; and

during a first step corresponding to the first pre-planned step path, cause the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.

2. The control system of claim 1, wherein the program instructions are further executable to:

determine, for a second foot of the robotic device, a second pre-planned step path extending from a second lift-off location to a second touch-down location;

identify, within the topographical map, a second scan patch of cells that encompass the second pre-planned step path;

determine a second high point among second scan patch of cells; and

during a second step corresponding to the second pre-planned step path, cause the robotic device to lift the second foot to a second swing height that is higher than the second high point, wherein the determined second swing height is different from the determined first swing height.

3. The control system of claim 1, wherein the program instructions are further executable to:

determine, for the first foot, a third pre-planned step path extending from a third lift-off location to a third touch-down location;

identify, within the topographical map, a third scan patch of cells that encompass the third pre-planned step path;

determine that a third high point among the third scan patch of cells is less than the threshold obstacle height; and

during a third step corresponding to the third pre-planned step path, cause the robotic device to lift the first foot to a nominal swing height.

4. The control system of claim 1, wherein the first scan patch of cells is rectangular.

5. The control system of claim 1, wherein identifying the first scan patch of cells that encompass the first pre-planned step path comprises:

detecting a velocity of the robotic device in a lateral direction; and

skewing the scan patch in the lateral direction such that the scan patch still encompasses the first pre-planned step path.

6. The control system of claim 5, wherein skewing the scan patch in the lateral direction such that the scan patch still encompasses the first pre-planned step path comprises:

skewing the scan patch in proportion to the detected velocity of the robotic device in the lateral direction.

7. The control system of claim 5, wherein skewing the scan patch in the lateral direction such that the scan patch still encompasses the first pre-planned step path comprises:

determining that the detected velocity in the lateral direction exceeds a threshold lateral velocity; and

responsively skewing the scan patch in the lateral direction.

8. The control system of claim 1, wherein each cell comprises multiple ground height measurements, and wherein determining the first high point among the first scan patch of cells comprises:

averaging the ground height measurements of the cells to determine respective average sample heights;

determining a particular cell that has a greatest average sample heights among the first scan patch of cells;

determining a standard deviation of the ground height measurements for the particular cell; and

determining the first high point to be at least the average sample height plus one or more standard deviations of the ground height measurements for the particular cell.

9. The control system of claim 8, wherein determining the first high point comprises determining the first high point to be at least the average sample height plus one or more standard deviations of the ground height measurements for the particular cell plus an offset proportional to a height of the robotic device.

10. The control system of claim 1, wherein identifying the first scan patch of cells that encompass the first pre-planned step path comprises:

identify, within the topographical map, cells forming one or more planar surfaces; and

determine, from among a set of geometric primitives, a particular geometric primitive that corresponds to the one or more planar surfaces, wherein the particular geometric primitive indicates respective heights of one or more sub-portions of the environment; and

identifying a portion of the particular geometric primitive that encompasses the first pre-planned step path.

11. A robotic device, comprising:

a first leg ending with a first foot;

at least one perception sensor; and

a control system configured to;

receive, from the at least one perception sensor, sensor data that indicates topographical features of an environment in which the robotic device is operating;

process the sensor data into a topographical map that includes a two-dimensional matrix of cells, the cells indicating sample heights of respective portions of the environment;

determine, for a first foot of the robotic device, a first pre-planned step path extending from a first lift-off location to a first touch-down location;

identify, within the topographical map, a first scan patch of cells that encompass the first pre-planned step path;

determine that a first high point among the first scan patch of cells is greater than a threshold obstacle height; and

during a first step corresponding to the first pre-planned step path, cause the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.

12. The robotic device of claim 11, wherein the robotic device further comprises a second leg ending with a second foot, and wherein the control system is further configured to:

determine, for the second foot, a second pre-planned step path extending from a second lift-off location to a second touch-down location;

identify, within the topographical map, a second scan patch of cells that encompass the second pre-planned step path;

determine a second high point among second scan patch of cells; and

during a second step corresponding to the second pre-planned step path, cause the robotic device to lift the second foot to a second swing height that is higher than the second high point, wherein the determined second swing height is different from the determined first swing height.

13. The robotic device of claim 11, wherein the first scan patch of cells is rectangular.

14. The robotic device of claim 11, wherein identifying the first scan patch of cells that encompass the first pre-planned step path comprises:

detecting a velocity of the robotic device in a lateral direction; and

skewing the scan patch in the lateral direction such that the scan patch still encompasses the first pre-planned step path.

15. The robotic device of claim 14, wherein skewing the scan patch in the lateral direction such that the scan patch still encompasses the first pre-planned step path comprises:

skewing the scan patch in proportion to the detected velocity of the robotic device in the lateral direction.

16. The robotic device of claim 15, wherein skewing the scan patch in the lateral direction such that the scan patch still encompasses the first pre-planned step path comprises:

determining that the detected velocity in the lateral direction exceeds a threshold velocity; and

responsively skewing the scan patch in the lateral direction.

17. The robotic device of claim 11, wherein each cell comprises multiple ground height measurements, and wherein determining the first high point among the first scan patch of cells comprises:

averaging the ground height measurements of the cells to determine respective average sample heights;

determining a particular cell that has a greatest average sample heights among the first scan patch of cells;

determining a standard deviation of the ground height measurements for the particular cell; and

determining the first high point to be at least the average sample height plus one or more standard deviations of the ground height measurements for the particular cell.

18. The robotic device of claim 17, wherein determining the first high point to be at least the average sample height plus one or more standard deviations of the ground height measurements for the particular cell comprises determining the first high point to be at least the average sample height plus one or more standard deviations of the ground height measurements for the particular cell plus an offset proportional to a height of the robotic device.

19. The robotic device of claim 11, wherein identifying the first scan patch of cells that encompass the first pre-planned step path comprises:

identify, within the topographical map, cells forming one or more planar surfaces; and

determine, from among a set of geometric primitives, a particular geometric primitive that corresponds to the one or more planar surfaces, wherein the particular geometric primitive indicates respective heights of one or more sub-portions of the environment; and

identifying a portion of the particular geometric primitive that encompasses the first pre-planned step path.

20. A method comprising:

receiving, by a control system of a robotic device, sensor data that indicates topographical features of an environment in which the robotic device is operating;

processing the sensor data into a topographical map that includes a two-dimensional matrix of cells, the cells indicating sample heights of respective portions of the environment;

determining, for a first foot of the robotic device, a first pre-planned step path extending from a first lift-off location to a first touch-down location;

identifying, within the topographical map, a first scan patch of cells that encompass the first pre-planned step path;

determining a first high point among the first scan patch of cells; and

during a first step corresponding to the first pre-planned step path, causing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.