公开(公告)号：US20220193898A1

公开(公告)日：2022-06-23

申请号：US17644642

申请日：2021-12-16

Applicant: Boston Dynamics, Inc.

Inventor： Navid Aghasadeghi ,  Alfred Anthony Rizzi ,  Gina Fay ,  Robert Eugene Paolini

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155

Abstract: A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The robot includes an articulated arm having an end effector engaged with a constrained object. The operations include receiving a measured task parameter set for the end effector. The measured task parameter set includes position parameters defining a position of the end effector. The operations further include determining, using the measured task parameter set, at least one axis of freedom and at least one constrained axis for the end effector within a workspace. The operations also include assigning a first impedance value to the end effector along the at least one axis of freedom and assigning a second impedance value to the end effector along the at least one constrained axis. The operations include instructing the articulated arm to move the end effector along the at least one axis of freedom.