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

Claim 9:
10. A robot comprising:
a base;
an articulated arm coupled to the base;
data processing hardware comprising an arm controller and a base controller; and
memory hardware storing instructions that when executed by the data processing hardware cause the data processing hardware to perform operations comprising:
determining, by the arm controller, 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 the base controller;
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.