The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 04, 2022
Filed:
Oct. 15, 2019
X Development Llc, Mountain View, CA (US);
Yunfei Bai, Fremont, CA (US);
Yuchen Wu, San Francisco, CA (US);
X DEVELOPMENT LLC, Mountain View, CA (US);
Abstract
Mitigating the reality gap through utilization of technique(s) that enable compliant robotic control and/or compliant robotic contact to be simulated effectively by a robotic simulator. The technique(s) can include, for example: (1) utilizing a compliant end effector model in simulated episodes of the robotic simulator; (2) using, during the simulated episodes, a soft constraint for a contact constraint of a simulated contact model of the robotic simulator; and/or (3) using proportional derivative (PD) control in generating joint control forces, for simulated joints of the simulated robot, during the simulated episodes. Implementations additionally or alternatively relate to determining parameter(s), for use in one or more of the techniques that enable effective simulation of compliant robotic control and/or compliant robotic contact.