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

Claim 9:
10. 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 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, 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,
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.