Patent Document ID: 10093019
Application ID: 15230776
Patent Flag: 1

Claim One:
1. A method comprising: operating a model of a robot with a first set of control parameters to simulate a first motion of the robot, wherein the first set of control parameters represents a first coordinated exertion of forces by actuators of the robot; determining a second set of control parameters based on the first set of control parameters and the first simulated motion of the robot; operating the model with the second set of control parameters to simulate a second motion of the robot, wherein the second set of control parameters represents a second coordinated exertion of forces by the actuators of the robot; determining respective first and second scores for the first and second simulated motions of the robot, wherein the first and second scores are based on constraints associated with limbs of the robot and a predetermined goal; based on the first and second scores, selecting either the first or second set of control parameters; and based on the selected set of control parameters, causing the actuators of the robot to perform the associated coordinated exertion of forces.