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公开(公告)号：US09840005B1
公开(公告)日：2017-12-12
申请号：US14458371
申请日：2014-08-13
Applicant: Google Inc.
Inventor： Christopher Everett Thorne
CPC classification number: B25J9/109 , B25J17/0266
Abstract: An example robotic joint may include a first cam and a second cam. The robotic joint may also include a first actuator configured to contact the first cam, a second actuator configured to contact the first cam, a third actuator configured to contact the second cam, and a fourth actuator configured to contact the second cam. The robotic joint may also include a first coupling link configured to couple the first cam to a first drive shaft link, and a second coupling link configured to couple the second cam to a second drive shaft link. The robotic joint may also include a drive shaft rigidly coupled to the first drive shaft link and the second drive shaft link, wherein the drive shaft rotates about a first pivot axis when the first and third actuators and the second and fourth actuators act in concert.
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公开(公告)号：US09651133B2
公开(公告)日：2017-05-16
申请号：US14613427
申请日：2015-02-04
Applicant: Google Inc.
Inventor： Michael Patrick Murphy , Christopher Everett Thorne
CPC classification number: F16H53/08 , F01B9/06 , F15B15/06 , F15B15/1404 , F15B2211/76 , F16H25/14 , F16H53/02
Abstract: The present disclosure relates to a system that uses linear actuators to generate a torque on a shaft. In an example implementation, a system may include a shaft and an attached cam. The cam includes an involute portion. The system also includes a first linear actuator and a second linear actuator configured to move along a first axis and a second axis, respectively. The linear actuators are configured to detachably couple to the cam based on at least a reference angle of the shaft. That is, as the shaft rotates about its rotational axis at the reference angle, the first and the second linear actuators may couple to, and decouple from, various portions of the cam. As the linear actuators couple to, and decouple from, the various portions of the cam, different rotational torques and/or different ranges of such torques may be imparted onto the shaft.
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公开(公告)号：US09486919B1
公开(公告)日：2016-11-08
申请号：US14458365
申请日：2014-08-13
Applicant: Google Inc.
Inventor： Christopher Everett Thorne , Michael Patrick Murphy
CPC classification number: B25J9/1633 , B25J9/104 , B25J9/1075 , B25J9/144 , B25J17/0241
Abstract: Example joints for a robotic device are provided. An example robotic joint may include an upper portion, a lower portion, and a connecting link positioned between the upper portion and the lower portion. The upper portion may be coupled to the connecting link via a first revolute joint, and the lower portion may be coupled to the connecting link via a second revolute joint. The robotic joint may also include an actuator having a first end coupled to the upper portion and a second end coupled to the connecting link, where the actuator is configured to apply a torque to the connecting link. The robotic joint may also include a coupling element configured to transfer the torque applied to the connecting link into a rotational motion of the lower portion about the second revolute joint.
Abstract translation: 提供机器人设备的示例接头。 示例性机器人接头可以包括位于上部和下部之间的上部，下部和连接连杆。 上部可以经由第一旋转接头联接到连接连杆，并且下部可以经由第二旋转接头联接到连接连杆。 机器人接头还可以包括致动器，其具有联接到上部的第一端和联接到连接连杆的第二端，其中致动器构造成向连接连杆施加扭矩。 机器人接头还可以包括耦合元件，其被配置为将施加到连接链节的扭矩传递到下部围绕第二旋转接头的旋转运动。
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公开(公告)号：US09283949B2
公开(公告)日：2016-03-15
申请号：US14449471
申请日：2014-08-01
Applicant: Google Inc.
Inventor： John Aaron Saunders , Alex Khripin , Steven Potter , Michael Patrick Murphy , Christopher Everett Thorne
CPC classification number: B25J9/126 , B25J3/04 , B25J9/144 , B25J9/1602 , B60W10/04 , B60W10/08 , B62D57/02 , B62D57/032 , F15B9/09 , F15B15/088 , F15B18/00 , F15B2211/7135 , F15B2211/78 , Y10S901/01 , Y10S901/22 , Y10S901/23
Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).
Abstract translation: 示例性实施例可以涉及包括液压致动器和耦合到机器人系统的接头的电动致动器的机器人系统。 致动器的操作可以基于诸如基于期望的关节参数的各种因素。 例如，这种所需的关节参数可以包括所需的输出扭矩/关节力，关节的期望输出速度，关节的期望加速度和/或期望的关节角度以及其它可能性。 给定功率模型以及致动器的模型，机器人系统可以确定操作参数，例如液压和电操作参数以及电力系统参数等。 机器人系统然后可以使用所确定的操作参数来控制致动器的操作，以获得期望的关节参数，使得系统中的功率消耗最小化（即，最大化致动效率）。
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公开(公告)号：US09937618B2
公开(公告)日：2018-04-10
申请号：US15016729
申请日：2016-02-05
Applicant: Google Inc.
Inventor： John Aaron Saunders , Alex Khripin , Steven Potter , Michael Patrick Murphy , Christopher Everett Thorne
IPC: B25J9/00 , B25J9/12 , B25J3/04 , B25J9/14 , B60W10/04 , B60W10/08 , B62D57/02 , F15B15/08 , B62D57/032 , F15B9/09 , F15B18/00
CPC classification number: B25J9/126 , B25J3/04 , B25J9/144 , B25J9/1602 , B60W10/04 , B60W10/08 , B62D57/02 , B62D57/032 , F15B9/09 , F15B15/088 , F15B18/00 , F15B2211/7135 , F15B2211/78 , Y10S901/01 , Y10S901/22 , Y10S901/23
Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).
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Patent Agency Ranking
公开(公告)号：US09731416B1
公开(公告)日：2017-08-15
申请号：US14644843
申请日：2015-03-11
Applicant: Google Inc.
IPC: G05B19/04 , G05B19/18 , B25J9/14 , B62D57/032
CPC classification number: B25J9/14 , B25J9/144 , B62D57/032 , F15B15/06 , Y10S901/01 , Y10S901/22
Abstract: An example robot includes a first hydraulic actuator cylinder connecting a first member to a second member, where the first hydraulic actuator cylinder comprises a first piston and a first chamber. A second hydraulic actuator cylinder connects the first member to the second member, where the second hydraulic actuator cylinder comprises a second piston and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller is configured to determine a gait state of the robot, and based on the determined gait state, provide a signal to the valve system.
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公开(公告)号：US09555846B1
公开(公告)日：2017-01-31
申请号：US14664701
申请日：2015-03-20
Applicant: Google Inc.
Inventor： John Aaron Saunders , Christopher Everett Thorne
IPC: B62D57/032 , B25J9/00 , B25J17/00 , B25J9/14
CPC classification number: B62D57/032 , B25J9/0006 , B25J9/14 , B25J17/00
Abstract: A robot assembly including, a back member, a pelvis base with a first side and a second side; wherein the pelvis base is rotatably connected to the back member between the first and second sides of the pelvis base, and rotatable around a back x-axis, a first hip member rotatably connected to the first side of the pelvis base and rotatable about a first hip x-axis, a first intermediate extension rotatably connected to the first hip member and rotatable about a first hip z-axis, and a first leg member rotatably connected to the first intermediate extension and rotatable about a first hip y-axis.
Abstract translation: 一种机器人组件，包括：后部构件，具有第一侧和第二侧的骨盆底座; 其中，所述骨盆底座在所述骨盆底座的所述第一和第二侧面之间可旋转地连接到所述后部构件，并且能够围绕后部x轴线旋转;第一臀部构件，其可旋转地连接到所述骨盆底座的第一侧， 髋部x轴，第一中间延伸部，其可旋转地连接到第一髋部构件并可围绕第一髋部z轴旋转;以及第一腿部构件，其可旋转地连接到第一中间延伸部并且能够围绕第一髋部y轴旋转。
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公开(公告)号：US09878751B1
公开(公告)日：2018-01-30
申请号：US14878007
申请日：2015-10-08
Applicant: Google Inc.
Inventor： Christopher Everett Thorne , John Aaron Saunders , Marco da Silva , Thomas H. Miller , Alexander Douglas Perkins
IPC: B62D57/032 , B25J9/16
CPC classification number: B62D57/032 , B25J9/162 , B25J9/1633 , Y10S901/01 , Y10S901/28
Abstract: An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.
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公开(公告)号：US20160223057A1
公开(公告)日：2016-08-04
申请号：US14613427
申请日：2015-02-04
Applicant: Google Inc.
Inventor： Michael Patrick Murphy , Christopher Everett Thorne
IPC: F16H25/08
CPC classification number: F16H53/08 , F01B9/06 , F15B15/06 , F15B15/1404 , F15B2211/76 , F16H25/14 , F16H53/02
Abstract: The present disclosure relates to a system that uses linear actuators to generate a torque on a shaft. In an example implementation, a system may include a shaft and an attached cam. The cam includes an involute portion. The system also includes a first linear actuator and a second linear actuator configured to move along a first axis and a second axis, respectively. The linear actuators are configured to detachably couple to the cam based on at least a reference angle of the shaft. That is, as the shaft rotates about its rotational axis at the reference angle, the first and the second linear actuators may couple to, and decouple from, various portions of the cam. As the linear actuators couple to, and decouple from, the various portions of the cam, different rotational torques and/or different ranges of such torques may be imparted onto the shaft.
Abstract translation: 本公开涉及使用线性致动器在轴上产生扭矩的系统。 在示例性实施方式中，系统可以包括轴和附接的凸轮。 凸轮包括渐开线部分。 该系统还包括分别沿着第一轴线和第二轴线移动的第一线性致动器和第二线性致动器。 线性致动器构造成至少基于轴的参考角度可拆卸地联接到凸轮。 也就是说，当轴以其参考角度围绕其旋转轴线旋转时，第一和第二线性致动器可以耦合到凸轮的各个部分并从其去耦。 当线性致动器耦合到凸轮的各个部分并与其解耦时，可以将不同的旋转扭矩和/或这种转矩的不同范围赋予轴上。
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公开(公告)号：US20160151911A1
公开(公告)日：2016-06-02
申请号：US15016729
申请日：2016-02-05
Applicant: Google Inc.
Inventor： John Aaron Saunders , Alex Khripin , Steven Potter , Michael Patrick Murphy , Christopher Everett Thorne
CPC classification number: B25J9/126 , B25J3/04 , B25J9/144 , B25J9/1602 , B60W10/04 , B60W10/08 , B62D57/02 , B62D57/032 , F15B9/09 , F15B15/088 , F15B18/00 , F15B2211/7135 , F15B2211/78 , Y10S901/01 , Y10S901/22 , Y10S901/23
Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).
Abstract translation: 示例性实施例可以涉及包括液压致动器和耦合到机器人系统的接头的电动致动器的机器人系统。 致动器的操作可以基于诸如基于期望的关节参数的各种因素。 例如，这种所需的关节参数可以包括所需的输出扭矩/关节力，关节的期望输出速度，关节的期望加速度和/或期望的关节角度以及其它可能性。 给定功率模型以及致动器的模型，机器人系统可以确定操作参数，例如液压和电操作参数以及电力系统参数等。 机器人系统然后可以使用所确定的操作参数来控制致动器的操作，以获得期望的关节参数，使得系统中的功率消耗最小化（即，最大化致动效率）。
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