US 12,440,970 B2
Arm and body coordination
Stephen George Berard, Waltham, MA (US); Andrew James Barry, Cambridge, MA (US); Benjamin John Swilling, Winchester, MA (US); and Alfred Anthony Rizzi, Cambridge, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Feb. 15, 2024, as Appl. No. 18/443,180.
Application 18/443,180 is a continuation of application No. 17/318,435, filed on May 12, 2021, granted, now 11,931,898.
Claims priority of provisional application 63/129,398, filed on Dec. 22, 2020.
Prior Publication US 2024/0189999 A1, Jun. 13, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B25J 5/00 (2006.01)
CPC B25J 9/162 (2013.01) [B25J 9/1661 (2013.01); B25J 9/1664 (2013.01); B25J 5/00 (2013.01); B25J 5/007 (2013.01); G05B 2219/39172 (2013.01); G05B 2219/40298 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
receiving, at an arm controller of a robot, a task request defining a task for the robot to perform using an articulated arm of the robot;
generating, by the arm controller, i) instructions for controlling the articulated arm to perform the task request and ii) at least one balance parameter identifying anticipated forces applied by the articulated arm performing the task;
providing the at least one balance parameter to a base controller of the robot; and
instructing, by the base controller, a base of the robot to counter-balance the articulated arm performing the task based on the at least one balance parameter.