Patent ID: 9440353
Filing Date: 2016-09-13
CPC Classification: B25J,B62D,Y10S

Claim Text:
1. A method comprising: providing a model of a robot with one or more limbs, the model configured to determine simulated motions of the robot based on sets of control parameters, wherein subsets of the control parameters collectively represent a coordinated exertion of forces by respective actuators of the robot, wherein a particular limb of the one or more limbs of the robot includes a joint connecting a first member and a second member, and an actuator configured to control a state of the particular limb, wherein the state of the particular limb includes an angle between the first member and the second member, and an extent of torque exerted at the joint, wherein the torque exerted at the joint results from an exertion of a force by the actuator, and wherein a particular subset of control parameters for the particular limb includes a starting state, an ending state, and a duration of time; operating the model with multiple sets of control parameters to simulate respective motions of the robot; determining respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a predetermined goal, wherein the constraints include actuator constraints and joint constraints for one or more limbs of the robot; based on the respective scores, selecting a set of control parameters associated with a particular score; and modifying a behavior of the robot based on the selected set of control parameters to perform the coordinated exertion of forces by the actuators of the robot.