US 12,070,863 B2
Dynamic planning controller
Eric Whitman, Waltham, MA (US); and Alex Khripin, Waltham, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Aug. 29, 2022, as Appl. No. 17/898,278.
Application 17/898,278 is a continuation of application No. 16/601,035, filed on Oct. 14, 2019, granted, now 11,465,281.
Prior Publication US 2022/0410390 A1, Dec. 29, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05B 13/04 (2006.01); B25J 9/16 (2006.01); G06N 5/01 (2023.01)
CPC B25J 9/1653 (2013.01) [G05B 13/042 (2013.01); G06N 5/01 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
identifying, by data processing hardware, a state of a robot and one or more movement events for the robot;
transforming, by the data processing hardware, the state of the robot and the one or more movement events into a nonlinear optimization problem;
identifying, by the data processing hardware, a solution to a first linear optimization problem;
linearizing, by the data processing hardware, using the solution to the first linear optimization problem as a linearization estimate of the nonlinear optimization problem, the nonlinear optimization problem into a second linear optimization problem;
determining, by the data processing hardware, a solution to the second linear optimization problem; and
generating, by the data processing hardware, a command for the robot based on the solution to the second linear optimization problem.