Abstract: A computer-implemented method, when executed by data processing hardware of a robot having an articulated arm and a base, causes data processing hardware to perform operations. The operations include determining a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot. The operations also include receiving a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location. The operations also include generating base parameters associated with the task request. The operations further include instructing, using the generated base parameters, the base of the robot to move from the current base configuration to an anticipatory base configuration.

Abstract: A method of mitigating slip conditions and estimating ground friction for a robot having a plurality of feet includes receiving a first coefficient of friction corresponding to a ground surface. The method also includes determining whether one of the plurality of feet is in contact with the ground surface, and when a first foot of the plurality feet is in contact with the ground surface, setting a second coefficient of friction associated with the first foot equal to the first coefficient of friction. The method also includes determining a measured velocity of the first foot relative to the ground surface, and adjusting the second coefficient of friction of the first foot based on the measured velocity of the foot. One of the plurality of feet of the robot applies a force on the ground surface based on the adjusted second coefficient of friction.

Abstract: A method of mitigating slip conditions and estimating ground friction for a robot having a plurality of feet includes receiving a first coefficient of friction corresponding to a ground surface. The method also includes determining whether one of the plurality of feet is in contact with the ground surface, and when a first foot of the plurality feet is in contact with the ground surface, setting a second coefficient of friction associated with the first foot equal to the first coefficient of friction. The method also includes determining a measured velocity of the first foot relative to the ground surface, and adjusting the second coefficient of friction of the first foot based on the measured velocity of the foot. One of the plurality of feet of the robot applies a force on the ground surface based on the adjusted second coefficient of friction.

Abstract: A computer-implemented method when executed by data processing hardware causes the data processing hardware to perform operations. The operations include detecting a candidate support surface at an elevation less than a current surface supporting a legged robot. A determination is made on whether the candidate support surface includes an area of missing terrain data within a portion of an environment surrounding the legged robot, where the area is large enough to receive a touchdown placement for a leg of the legged robot. If missing terrain data is determined, at least a portion of the area of missing terrain data is classified as a no-step region of the candidate support surface. The no-step region indicates a region where the legged robot should avoid touching down a leg of the legged robot.

Abstract: Data processing hardware of a robot performs operations to identify a door within an environment. A robotic manipulator of the robot grasps a feature of the door on a first side facing the robot. When the door opens in a first direction toward the robot, the robotic manipulator exerts a pull force to swing the door in the first direction, a leg of the robot moves to a position that blocks the door from swinging in the second direction, the robotic manipulator contacts the door on a second side opposite the first side, and the robotic manipulator exerts a door opening force on the second side as the robot traverses a doorway corresponding to the door. When the door opens in a second direction away from the robot, the robotic manipulator exerts the door opening force on the first side as the robot traverses the doorway.

Abstract: A computer-implemented method, when executed by data processing hardware of a robot having an articulated arm and a base, causes data processing hardware to perform operations. The operations include determining a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot. The operations also include receiving a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location. The operations also include generating base parameters associated with the task request. The operations further include instructing, using the generated base parameters, the base of the robot to move from the current base configuration to an anticipatory base configuration.

Abstract: A method of mitigating slip conditions and estimating ground friction for a robot having a plurality of feet includes receiving a first coefficient of friction corresponding to a ground surface. The method also includes determining whether one of the plurality of feet is in contact with the ground surface, and when a first foot of the plurality feet is in contact with the ground surface, setting a second coefficient of friction associated with the first foot equal to the first coefficient of friction. The method also includes determining a measured velocity of the first foot relative to the ground surface, and adjusting the second coefficient of friction of the first foot based on the measured velocity of the foot. One of the plurality of feet of the robot applies a force on the ground surface based on the adjusted second coefficient of friction.