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

Claim 19:
20. A limbed robot comprising:
an actuator;
a processor; and
a memory storing a model of the robot and program logic, the program logic executable by the processor to cause the robot to perform operations comprising:
simulating a motion of the limbed robot with a set of control parameters using the model, the set of control parameters representing a first exertion of force by the actuator of the limbed robot;
determining a score for the simulated motion of the limbed robot based on constraints associated with at least one limb of the limbed robot and a predetermined goal, 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 relationship between a second measurable aspect of the simulated motion and the 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 the set of control parameters based on the score; and

actuating the actuator to exert the exertion of force that is associated with the selected set of control parameters,
wherein the second sub-score is a function of one or more measured joint angles for the limbed robot and one or more actuator forces from the simulated motion of the limbed robot, and
wherein the second sub-score increases in value as the one or more measured joint angles and the one or more actuator forces approach the constraints.