Patent ID: 11931898
Assignee: BOSTON DYNAMICS, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A computer-implemented method that, when executed by data processing hardware of a robot having an articulated arm and a base, causes the data processing hardware to perform operations comprising:
determining, by an arm controller of the data processing hardware, a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot;
receiving, at the arm controller, a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location;
generating, by the arm controller, i) instructions for controlling the articulated arm to perform the task request and ii) base parameters associated with the task request, the base parameters including at least one balance parameter identifying anticipated forces associated with the articulated arm performing the task;
providing the base parameters to a base controller of the data processing hardware;
instructing, by the base controller, the base of the robot to move from the current base configuration to an anticipatory base configuration based on the base parameters; and
instructing, by the base controller, the base of the robot to counter-balance the articulated arm performing the task based on the at least one balance parameter.