US 12,240,105 B2
Dynamic mass estimation methods for an integrated mobile manipulator robot
Shervin Talebi, Wayland, MA (US); Neil Neville, Waltham, MA (US); and Kevin Blankespoor, Arlington, MA (US)
Assigned to BOSTON DYNAMICS, INC., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Mar. 21, 2022, as Appl. No. 17/699,523.
Claims priority of provisional application 63/166,851, filed on Mar. 26, 2021.
Prior Publication US 2022/0305678 A1, Sep. 29, 2022
Int. Cl. B25J 19/02 (2006.01); B25J 9/16 (2006.01); B65G 61/00 (2006.01); G01C 19/14 (2006.01); G01G 9/00 (2006.01); G01G 19/14 (2006.01)
CPC B25J 19/02 (2013.01) [B25J 9/1664 (2013.01); B65G 61/00 (2013.01); G01G 9/00 (2013.01); G01G 19/14 (2013.01)] 29 Claims
OG exemplary drawing
 
1. A method of estimating one or more mass characteristics of a payload manipulated by a robot, the method comprising:
moving the payload using the robot, wherein the payload is grasped by an end effector of the robot;
determining one or more accelerations of the payload while the payload is in motion;
sensing, using one or more sensors of the robot, a wrench applied to the payload while the payload is in motion;
estimating the one or more mass characteristics of the payload based, at least in part, on the determined accelerations and the sensed wrench; and
planning, while the payload remains grasped by the end effector of the robot, a trajectory based, at least in part, on the estimated one or more mass characteristics of the payload.