Patent ID: 11865715
Assignee: BOSTON DYNAMICS, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 0:
1. A method comprising:
simulating, by a computing device of a limbed robot, a motion of the limbed robot with a set of control parameters using a model, the set of control parameters representing a first exertion of force by an actuator of the limbed robot;
determining, by the computing device, a score for the simulated motion of the limbed robot based on a predetermined goal and one or more constraints, the one or more constraints representing a full physical range of motion of at least one limb of the limbed robot, wherein determining the score comprises:
determining a first sub-score based on a relationship between a first measurable aspect of the simulated motion and the predetermined goal;
determining a second sub-score based on a comparison between a second measurable aspect of the simulated motion and the full physical range of motion of the one or more constraints associated with the at least one limb of the limbed robot; and
calculating the score based on the first sub-score and the second sub-score;

selecting, by the computing device, the set of control parameters based on the score; and
actuating, by the computing device, the actuator to exert the exertion of force that is associated with the selected set of control parameters.