US 11,667,343 B2
Whole body manipulation on a legged robot using dynamic balance
Kevin Blankespoor, Arlington, MA (US); Benjamin Stephens, Somerville, MA (US); Nicolas Hudson, San Mateo, CA (US); Yeuhi Abe, Cambridge, MA (US); and Jennifer Barry, Cambridge, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Jun. 6, 2019, as Appl. No. 16/433,779.
Application 16/433,779 is a continuation of application No. 15/377,559, filed on Dec. 13, 2016, granted, now 10,351,189.
Prior Publication US 2019/0283822 A1, Sep. 19, 2019
Int. Cl. B25J 9/16 (2006.01); B62D 57/032 (2006.01); B62D 57/02 (2006.01); B62D 57/024 (2006.01)
CPC B62D 57/032 (2013.01) [B25J 9/162 (2013.01); B25J 9/1633 (2013.01); B25J 9/1694 (2013.01); B62D 57/02 (2013.01); B62D 57/024 (2013.01); G05B 2219/40298 (2013.01); G05D 2201/0217 (2013.01); Y10S 901/01 (2013.01)] 28 Claims
OG exemplary drawing
 
1. A robot system comprising: a body comprising:
an upper body section comprising a movable end-effector;
a lower body section comprising a leg configured to contact a surface; and
an intermediate body section coupling the upper body section and the lower body section; and
a control system implemented with a processor, the control system comprising:
an upper body control system configured to operate the movable end-effector, the movable end-effector experiencing a first force based on operation of the movable end-effector, and the intermediate body section experiencing at least one of a second force or a first moment based on the first force; and
a lower body control system configured to:
receive, from the upper body control system, information associated with the at least one of the second force or the first moment;
operate the leg based on the operation of the movable end-effector, the leg experiencing a third force from the surface based on operation of the leg, and the intermediate body section experiencing at least one of a fourth force or a second moment based on the third force; and
balance at least one of the fourth force to the second force or the second moment to the first moment to balance the body.