公开(公告)号：WO2022133016A1

公开(公告)日：2022-06-23

申请号：PCT/US2021/063682

申请日：2021-12-16

Applicant: BOSTON DYNAMICS, INC.

Inventor： PAOLINI, Robert Eugene ,  RIZZI, Alfred Anthony ,  AGHASADEGHI, Navid ,  KHRIPIN, Alex

IPC: B25J9/16

Abstract: A method (400) includes generating a joint-torque-limit model (232) for an articulated arm (20) of a robot (10) based on allowable joint torque sets (234) corresponding to a current configuration (P12) of a base (12) of the robot. The method also includes receiving a first requested joint torque set (324) for a first arm pose (P20) of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set (244) corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set (324) for a second arm pose (P20) of the articulated arm and generating an adjusted joint torque set (332) by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.

公开(公告)号：WO2022140151A1

公开(公告)日：2022-06-30

申请号：PCT/US2021/063776

申请日：2021-12-16

Applicant: BOSTON DYNAMICS, INC.

Inventor： AGHASADEGHI, Navid ,  RIZZI, Alfred, Anthony ,  FAY, Gina ,  PAOLINI, Robert, Eugene

IPC: B25J9/16 ,  G05B19/42

Abstract: A computer-implemented method (500) executed by data processing hardware (36) of a robot (10) causes the data processing hardware to perform operations. The robot includes an articulated arm (20) having an end effector (24) engaged with a constrained object (4). The operations include receiving a measured task parameter set (322) for the end effector, including position parameters (P322) defining a position of the end effector. The operations include determining, using the measured task parameter set, at least one axis of freedom and at least one constrained axis for the end effector. The operations include assigning a first impedance value (238) to the end effector along the at least one axis of freedom and a second impedance value (238) 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.