Patent Document ID: 9579796
Application ID: 14037183
Patent Status: 1

Claim One:
1. A computer-implemented method for simplifying a model of a robot, comprising: receiving the robot model and a controller, wherein the received robot model includes one or more equations with mass and dynamic properties of the robot used to simulate motion of the robot, and wherein the received controller is configured to compute inputs to the received robot model for achieving one or more control objectives; receiving task-specific output corresponding to a task or motion to be performed; and performing, via one or more processors, a search on an order of the received robot model to obtain a minimum stable reduced order robot model and a first stabilizing controller associated therewith given the received robot model, the received controller, and the received task-specific output, wherein the first stabilizing controller also stabilizes the received robot model, and wherein the search includes: initializing a reduced order to a number of unstable poles of an open-loop system of the received robot model, reducing the received robot model to a balanced reduced order robot model, obtaining a second stabilizing controller associated with the balanced reduced order robot model and capable of controlling the received robot model, if a closed loop of the received robot model with the second stabilizing controller is unstable, incrementing the reduced order and repeating the steps of reducing the received robot model and obtaining the second stabilizing controller, and if the closed loop of the received robot model with the second stabilizing controller is stable, taking the balanced reduced order robot model to be the minimum stable reduced order robot model and the second stabilizing controller to be the first stabilizing controller.