公开(公告)号：US20200290213A1

公开(公告)日：2020-09-17

申请号：US16889035

申请日：2020-06-01

Applicant: Boston Dynamics, Inc.

Inventor： Stephen Berard ,  Alexander Yu Khripin ,  Benjamin Swilling

IPC: B25J13/08 ,  B62D57/032

Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.