-
公开(公告)号：US09387896B1
公开(公告)日：2016-07-12
申请号：US14468031
申请日：2014-08-25
Applicant: Google Inc.
Inventor： Kevin Blankespoor , Alex Perkins , Marco da Silva
IPC: G06F19/00 , B62D57/032
CPC classification number: B62D57/032 , B25J9/1615 , B25J9/162 , G05B2219/40065 , Y10S901/01 , Y10S901/46
Abstract: An example method may include i) determining, by a robot having at least one foot, a representation of a coefficient of friction between the foot and a ground surface; ii) determining, by the robot, a representation of a gradient of the ground surface; iii) based on the determined representations of the coefficient of friction and the gradient, determining a threshold orientation for a target ground reaction force on the foot of the robot during a step; iv) determining the target ground reaction force, where the target ground reaction force comprises a magnitude and an orientation; v) determining an adjusted ground reaction force by adjusting the orientation of the target ground reaction force to be within the determined threshold orientation; and vi) causing the foot of the robot to apply a force on the ground surface equal to and opposing the adjusted ground reaction force during the step.
Abstract translation: 示例性方法可以包括i）通过具有至少一个脚的机器人确定脚和地面之间的摩擦系数的表示; ii）由机器人确定地面坡度的表示; iii）基于摩擦系数和梯度的确定的表示，在步骤期间确定机器人的脚上的目标地面反作用力的阈值取向; iv）确定目标地面反作用力，其中目标地面反作用力包括大小和方位; v）通过将目标地面反作用力的取向调整在确定的阈值取向内来确定调整的地面反作用力; 以及vi）使所述机器人的脚在所述步骤期间在地面上施加与所述调整的地面反作用力相等并相对的力。
-
公开(公告)号：US20160025114A1
公开(公告)日：2016-01-28
申请号：US14489778
申请日：2014-09-18
Applicant: Google Inc.
Inventor： Alex Perkins , Kevin Blankespoor , Alfred Rizzi
IPC: F15B13/02
CPC classification number: F15B13/021 , F15B9/09 , F15B11/048 , F15B15/28 , F15B15/2815 , F15B21/08 , F15B2211/30575 , F15B2211/6336 , F15B2211/665 , F15B2211/6654 , F15B2211/6656 , F15B2211/6658 , F15B2211/7053 , F15B2211/755 , F15B2211/7653 , F15B2211/8606 , G05B19/00
Abstract: In some applications, a piston of a hydraulic actuator may move at high speeds, and large undesired forces may be generated if the piston reaches an end-stop of the hydraulic actuator at a high speed. The undesired forces may, for example, cause mechanical damage in the hydraulic actuator. A controller may receive information indicative of the piston reaching a first position at a first threshold distance from the end-stop, and, in response, may modify a signal to a valve assembly controlling flow of hydraulic fluid to and from the hydraulic actuator. Further, the controller may receive information indicative of the piston reaching a second position at a second threshold distance closer to the end-stop of the hydraulic actuator, and, in response, the controller may further modify the signal to the valve assembly so as to apply a force on the piston in a away from the end-stop.
Abstract translation: 在一些应用中，液压致动器的活塞可以高速运动，并且如果活塞以高速到达液压致动器的终端，则可能产生大的不期望的力。 例如，不期望的力可能导致液压致动器中的机械损坏。 控制器可以接收指示活塞到达终端的第一阈值距离处的第一位置的信息，并且作为响应，可以将信号修改为控制液压流体流向和从液压致动器流出的阀组件。 此外，控制器可以接收指示活塞到达靠近液压致动器的停止的第二阈值距离处的第二位置的信息，并且作为响应，控制器可以进一步修改到阀组件的信号，以便 在活塞上远离终点站施加力。
-
Patent Agency Ranking
公开(公告)号：US09663165B1
公开(公告)日：2017-05-30
申请号：US15172404
申请日：2016-06-03
Applicant: Google Inc.
Inventor： Kevin Blankespoor , Marco da Silva , Alex Perkins
IPC: G06F19/00 , B62D57/032 , B25J9/16
CPC classification number: B62D57/032 , B25J9/1615 , B25J9/162 , G05B2219/40065 , Y10S901/01 , Y10S901/46
Abstract: A method may include i) determining, by a robot having at least one foot, a representation of a coefficient of friction between the foot and a ground surface; ii) determining, by the robot, a representation of a gradient of the ground surface; iii) based on the determined representations of the coefficient of friction and the gradient, determining a threshold orientation for a target ground reaction force on the foot of the robot during a step; iv) determining the target ground reaction force, where the target ground reaction force comprises a magnitude and an orientation; v) determining an adjusted ground reaction force by adjusting the orientation of the target ground reaction force to be within the determined threshold orientation; and vi) causing the foot of the robot to apply a force on the ground surface equal to and opposing the adjusted ground reaction force during the step.
-
公开(公告)号：US09546672B2
公开(公告)日：2017-01-17
申请号：US14489778
申请日：2014-09-18
Applicant: Google Inc.
Inventor： Alex Perkins , Kevin Blankespoor , Alfred Rizzi
IPC: F15B9/09 , F15B13/02 , F15B21/08 , F15B15/28 , F15B11/048
CPC classification number: F15B13/021 , F15B9/09 , F15B11/048 , F15B15/28 , F15B15/2815 , F15B21/08 , F15B2211/30575 , F15B2211/6336 , F15B2211/665 , F15B2211/6654 , F15B2211/6656 , F15B2211/6658 , F15B2211/7053 , F15B2211/755 , F15B2211/7653 , F15B2211/8606 , G05B19/00
Abstract: In some applications, a piston of a hydraulic actuator may move at high speeds, and large undesired forces may be generated if the piston reaches an end-stop of the hydraulic actuator at a high speed. The undesired forces may, for example, cause mechanical damage in the hydraulic actuator. A controller may receive information indicative of the piston reaching a first position at a first threshold distance from the end-stop, and, in response, may modify a signal to a valve assembly controlling flow of hydraulic fluid to and from the hydraulic actuator. Further, the controller may receive information indicative of the piston reaching a second position at a second threshold distance closer to the end-stop of the hydraulic actuator, and, in response, the controller may further modify the signal to the valve assembly so as to apply a force on the piston in a away from the end-stop.
Abstract translation: 在一些应用中，液压致动器的活塞可以高速运动，并且如果活塞以高速到达液压致动器的终端，则可能产生大的不期望的力。 例如，不期望的力可能导致液压致动器中的机械损坏。 控制器可以接收指示活塞到达终端的第一阈值距离处的第一位置的信息，并且作为响应，可以将信号修改为控制液压流体流向和从液压致动器流出的阀组件。 此外，控制器可以接收指示活塞到达靠近液压致动器的停止的第二阈值距离处的第二位置的信息，并且作为响应，控制器可以进一步修改到阀组件的信号，以便 在活塞上远离终点站施加力。
-
公开(公告)号：US09926025B1
公开(公告)日：2018-03-27
申请号：US15493790
申请日：2017-04-21
Applicant: Google Inc.
Inventor： Kevin Blankespoor , Marco da Silva , Alex Perkins
IPC: B62D57/032 , B25J9/16
CPC classification number: B62D57/032 , B25J9/1615 , B25J9/162 , G05B2219/40065 , Y10S901/01 , Y10S901/46
Abstract: An example method may include i) determining, by a robot having at least one foot, a representation of a coefficient of friction between the foot and a ground surface; ii) determining, by the robot, a representation of a gradient of the ground surface; iii) based on the determined representations of the coefficient of friction and the gradient, determining a threshold orientation for a target ground reaction force on the foot of the robot during a step; iv) determining the target ground reaction force, where the target ground reaction force comprises a magnitude and an orientation; v) determining an adjusted ground reaction force by adjusting the orientation of the target ground reaction force to be within the determined threshold orientation; and vi) causing the foot of the robot to apply a force on the ground surface equal to and opposing the adjusted ground reaction force during the step.
-
公开(公告)号：US09618937B1
公开(公告)日：2017-04-11
申请号：US14468146
申请日：2014-08-25
Applicant: Google Inc.
Inventor： Kevin Blankespoor , Alex Perkins , Marco da Silva
CPC classification number: G05D1/021 , B25J13/08 , B62D57/02 , B62D57/032 , Y10S901/01
Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.
-
公开(公告)号：US20170089365A1
公开(公告)日：2017-03-30
申请号：US15373626
申请日：2016-12-09
Applicant: Google Inc.
Inventor： Alex Perkins , Kevin Blankespoor , Alfred Rizzi
IPC: F15B13/02 , F15B15/28 , F15B21/08 , F15B11/048
Abstract: In some applications, a piston of a hydraulic actuator may move at high speeds, and large undesired forces may be generated if the piston reaches an end-stop of the hydraulic actuator at a high speed. The undesired forces may, for example, cause mechanical damage in the hydraulic actuator. A controller may receive information indicative of the piston reaching a first position at a first threshold distance from the end-stop, and, in response, may modify a signal to a valve assembly controlling flow of hydraulic fluid to and from the hydraulic actuator. Further, the controller may receive information indicative of the piston reaching a second position at a second threshold distance closer to the end-stop of the hydraulic actuator, and, in response, the controller may further modify the signal to the valve assembly so as to apply a force on the piston in a away from the end-stop.
-
-
-
-
-
-
Search Results
7
records
(took 0.017 seconds)
