公开(公告)号：US09662787B1

公开(公告)日：2017-05-30

申请号：US14865223

申请日：2015-09-25

Applicant: Google Inc.

Inventor： Zachary John Jackowski ,  Alex Yu Khripin ,  Alfred Anthony Rizzi

IPC: B25J9/14 ,  B25J9/16

CPC classification number: F15B11/20 ,  B25J9/144 ,  B62D57/032 ,  F15B1/024 ,  F15B2211/205 ,  F15B2211/20515 ,  F15B2211/20538 ,  F15B2211/212 ,  F15B2211/265 ,  F15B2211/55 ,  F15B2211/6309 ,  F15B2211/6651 ,  F15B2211/6653 ,  F15B2211/7053 ,  F15B2211/7142 ,  F15B2211/78 ,  F15B2211/86 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/09

Abstract: An example robot includes movable members, a hydraulic system including at least (i) hydraulic actuators configured to operate the movable members, and (ii) a source of hydraulic fluid, and a controller. The controller may be configured to: determine a task to be performed by the robot, where the task includes a plurality of phases; cause hydraulic fluid having a first pressure level to flow from the source to the hydraulic actuators for the robot to perform a first phase of the plurality of phases of the task; based on a second phase of the task, determine a second pressure level for the hydraulic fluid; and adjust, based on the second pressure level, operation of the hydraulic system before the robot begins the second phase of the task.

公开(公告)号：US10017218B1

公开(公告)日：2018-07-10

申请号：US15194493

申请日：2016-06-27

Applicant: Google Inc.

Inventor： Benjamin Swilling ,  Eric Whitman ,  Stephen Berard ,  Alfred Anthony Rizzi ,  Alex Yu Khripin ,  Gina Christine Fay

IPC: G06F19/00 ,  B62D57/032 ,  B25J9/00 ,  B25J9/16

CPC classification number: B62D57/032 ,  B25J9/0006 ,  B25J9/162 ,  B25J9/1664 ,  Y10S901/01

Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.

公开(公告)号：US09925667B1

公开(公告)日：2018-03-27

申请号：US15005687

申请日：2016-01-25

Applicant: Google Inc.

Inventor： Stephen Berard ,  Alex Yu Khripin ,  Benjamin Swilling

IPC: B25J9/16 ,  B62D57/032 ,  B25J13/08 ,  B25J19/00

CPC classification number: B25J9/1641 ,  B25J9/1628 ,  B25J9/1633 ,  B25J13/085 ,  B25J19/0008 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/27 ,  Y10S901/28 ,  Y10S901/30

Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.