公开(公告)号：US09833899B1

公开(公告)日：2017-12-05

申请号：US14676899

申请日：2015-04-02

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Alexander Douglas Perkins ,  Marco da Silva ,  Shervin Talebinejad

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B25J9/1633 ,  B62D57/032 ,  Y10S901/01

Abstract: An example implementation includes determining a force allocation for at least one foot of a legged robotic device, where the legged robotic device includes two feet coupled to two legs extending from a body of the legged robotic device. The implementation also includes determining a change in mass distribution of the legged robotic device, and based on the determined change in mass distribution, determining a force and a torque on the body of the legged robotic device with respect to a ground surface. The implementation also includes updating the determined force allocation for the at least one foot of the two feet based on the determined force and torque. The implementation also includes causing the at least one foot to act on the ground surface based on the updated force allocation.

公开(公告)号：US09789611B1

公开(公告)日：2017-10-17

申请号：US15190127

申请日：2016-06-22

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Marco da Silva

IPC: G05B19/00 ,  B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1628 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/49

Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.

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：US09387588B1

公开(公告)日：2016-07-12

申请号：US14468118

申请日：2014-08-25

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Marco da Silva

IPC: B62D57/032 ,  B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1628 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/49

Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.

Abstract translation: 示例性方法可以包括：i）检测对步态的机器人的步态的障碍，其中步态包括摆动状态和降档状态，摆动状态包括机器人的脚的目标摆动轨迹，以及目标摆动 轨迹包括一个开始和结束; 以及ii）基于检测到的干扰，使得在脚到达目标摆动轨迹的末端之前使机器人的脚进入降档状态。

公开(公告)号：US09789919B1

公开(公告)日：2017-10-17

申请号：US15077870

申请日：2016-03-22

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Marco da Silva

IPC: B62D57/02 ,  B25J9/16 ,  G01L5/00 ,  B62D57/032

CPC classification number: B62D57/02 ,  B25J9/1633 ,  B62D57/032 ,  G01L5/0028 ,  G05B2219/41005 ,  G05B2219/41006 ,  G05B2219/41021 ,  G05B2219/41025 ,  G05B2219/41163 ,  Y10S901/01

Abstract: An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.

公开(公告)号：US09440353B1

公开(公告)日：2016-09-13

申请号：US14584558

申请日：2014-12-29

Applicant: Google Inc.

Inventor： Marco da Silva ,  Benjamin Stephens ,  Alfred Anthony Rizzi ,  Yeuhi Abe

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B25J9/1605 ,  B25J9/162 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/28

Abstract: A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a predetermined goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.

Abstract translation: 计算系统可以提供机器人的模型。 该模型可以被配置为基于控制参数的集合来确定机器人的模拟运动。 计算系统还可以利用多组控制参数操作模型来模拟机器人的相应运动。 计算系统还可以确定机器人的每个相应模拟运动的相应分数，其中相应的分数基于与机器人的每个肢体相关联的约束和预定目标。 约束包括机器人肢体的执行器约束和关节限制。 另外，计算系统可以基于相应的分数来选择与特定分数相关联的一组控制参数。 此外，计算系统可以基于所选择的一组控制参数来修改机器人的行为，以通过机器人的致动器执行协调的力的施加。

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：US09352470B1

公开(公告)日：2016-05-31

申请号：US14554951

申请日：2014-11-26

Applicant: Google Inc.

Inventor： Marco da Silva ,  Kevin Blankespoor ,  Michael Rose

IPC: B25J13/08 ,  G01C19/5705 ,  G05D1/08 ,  B25J9/00

CPC classification number: B25J13/088 ,  B25J9/0003 ,  B25J13/085 ,  B62D57/032 ,  G01C19/5705 ,  G05D1/0891 ,  G05D2201/0217 ,  Y10S901/01

Abstract: An example method may include determining a requested yaw for a body of a robot, where the biped robot comprises a foot coupled to the body via a leg. The robot may then detect, via one or more sensors, a yaw rotation of the body with respect to a ground surface, where the foot is in contact with the ground surface. Based on the detected yaw rotation of the body, the robot may determine a measured yaw for the body. The robot may also determine a target yaw for the body, where the target yaw for the body is between the measured yaw for the body and the requested yaw for the body. The robot may then cause the foot to rotate the body to the target yaw for the body.

Abstract translation: 示例性方法可以包括为机器人的身体确定所请求的偏航，其中所述Biped机器人包括经由腿联接到所述身体的脚。 机器人然后可以经由一个或多个传感器检测主体相对于地面的偏转旋转，其中脚与地面接触。 基于检测到的身体的偏转旋转，机器人可以确定身体的测量偏航。 机器人还可以确定身体的目标偏航，其中身体的目标偏航在身体的所测量的偏航和对于身体的所请求的偏航之间。 然后，机器人可以使脚将身体旋转到身体的目标偏航。

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：US09908240B1

公开(公告)日：2018-03-06

申请号：US15386830

申请日：2016-12-21

Applicant: Google Inc.

Inventor： Marco da Silva ,  Kevin Blankespoor ,  Gabriel Nelson

IPC: B25J9/00 ,  B25J9/16 ,  B25J5/00 ,  G01C9/00 ,  B62D57/032

CPC classification number: B25J5/00 ,  B62D57/032 ,  Y10S901/01

Abstract: An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) determining, for a particular topographical feature of the environment in a direction of travel of the robotic device, a height of the particular topographical feature and a distance between the robotic device and the particular topographical feature, (iii) estimating a ground plane extending from the robotic device in the direction of travel toward the particular topographical feature, the ground plane fitting to the determined distance and height, (iv) determining a grade of the estimated ground plane, and (v) directing the robotic device to adjust pitch in proportion to the determined grade.