US 11,833,680 B2
Robot movement and online trajectory optimization
Robin Deits, Lexington, MA (US); Scott Kuindersma, Bedford, MA (US); Matthew P. Kelly, Carlisle, MA (US); Twan Koolen, Cambridge, MA (US); Yeuhi Abe, Cambridge, MA (US); and Benjamin Stephens, Cambridge, MA (US)
Assigned to Boston Dynamics, Inc., Waltham, MA (US)
Filed by Boston Dynamics, Inc., Waltham, MA (US)
Filed on Jun. 25, 2021, as Appl. No. 17/358,628.
Prior Publication US 2022/0410378 A1, Dec. 29, 2022
Int. Cl. G05D 1/02 (2020.01); B62D 57/02 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1602 (2013.01) [B25J 13/08 (2013.01); B62D 57/02 (2013.01); G05D 1/0212 (2013.01); G05D 1/0246 (2013.01); G05D 2201/0217 (2013.01)] 31 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
receiving, by a computing system of a robot, information including a navigation target for the robot and a kinematic state of the robot;
determining, by the computing system, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot, wherein the trajectory target is based on a linear motion of the robot and an angular motion of the robot, and wherein the retargeted trajectory is based on an adjusted linear motion of the robot and an adjusted angular motion of the robot;
determining, by the computing system, based on the retargeted trajectory, a centroidal trajectory for the robot and a whole-body kinematic trajectory for the robot consistent with the centroidal trajectory;
determining, by the computing system, based on the centroidal trajectory and the whole-body kinematic trajectory, a set of vectors having a vector for each of one or more joints or links of the robot; and
controlling, by the computing system, movement of the robot based on one or more vectors in the set of vectors.