Mitigating sensor noise in legged robots
First Claim
1. A method comprising:
- detecting, by a control system of a legged robot, an occurrence of a foot of the legged robot making contact with a surface, wherein the control system is configured to receive, as a control input, measurements from an inertial sensor coupled to the legged robot, and wherein a given measurement includes a vibration component representative of vibrations caused by the foot of the legged robot making contact with the surface;
upon detecting the occurrence, reducing a gain value of an amplifier of the control system from a nominal value to a reduced value, wherein the amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value;
over a predetermined duration of time after detecting the occurrence, increasing the gain value from the reduced value to the nominal value, wherein the gain value is increased according to a profile indicative of a manner in which to increase the gain value over the predetermined duration of time; and
during the predetermined duration of time, controlling at least one actuator of the legged robot based on the modulated output.
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Accused Products
Abstract
An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.
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Citations
20 Claims
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1. A method comprising:
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detecting, by a control system of a legged robot, an occurrence of a foot of the legged robot making contact with a surface, wherein the control system is configured to receive, as a control input, measurements from an inertial sensor coupled to the legged robot, and wherein a given measurement includes a vibration component representative of vibrations caused by the foot of the legged robot making contact with the surface; upon detecting the occurrence, reducing a gain value of an amplifier of the control system from a nominal value to a reduced value, wherein the amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value; over a predetermined duration of time after detecting the occurrence, increasing the gain value from the reduced value to the nominal value, wherein the gain value is increased according to a profile indicative of a manner in which to increase the gain value over the predetermined duration of time; and during the predetermined duration of time, controlling at least one actuator of the legged robot based on the modulated output. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A non-transitory computer-readable medium having instructions stored thereon that, upon execution by at least one processor, causes a control system of a legged robot to perform operations comprising:
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detecting, by the control system of a legged robot, an occurrence of a foot of the legged robot making contact with a surface, wherein the control system is configured to receive, as a control input, measurements from an inertial sensor coupled to the legged robot, and wherein a given measurement includes a vibration component representative of vibrations caused by the foot of the legged robot making contact with the surface; upon detecting the occurrence, reducing a gain value of an amplifier of the control system from a nominal value to a reduced value, wherein the amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value; over a predetermined duration of time after detecting the occurrence, increasing the gain value from the reduced value to the nominal value, wherein the gain value is increased according to a profile indicative of a manner in which to increase the gain value over the predetermined duration of time; and during the predetermined duration of time, controlling at least one actuator of the legged robot based on the modulated output. - View Dependent Claims (12, 13, 14)
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15. A robot comprising:
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at least one robotic leg comprising a foot; at least one actuator; an inertial sensor coupled to a portion of the legged robot; and a control system configured to perform operations comprising; receiving, as a control input, measurements from the inertial sensor, wherein a given measurement includes a vibration component representative of vibrations caused by the foot making contact with the surface; detecting an occurrence of a foot of the legged robot making contact with a surface; upon detecting the occurrence, reducing a gain value of an amplifier of the control system from a nominal value to a reduced value, wherein the amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value; and over a predetermined duration of time after detecting the occurrence, increasing the gain value from the reduced value to the nominal value, wherein the gain value is increased according to a profile indicative of a manner in which to increase the gain value over the predetermined duration of time; and during the predetermined duration of time, controlling the at least one actuator based on the modulated output. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification