公开(公告)号：US20170036352A1

公开(公告)日：2017-02-09

申请号：US15296094

申请日：2016-10-18

Applicant: Google Inc.

Inventor： Zachary Jackowski ,  Kevin Blankespoor ,  John Aaron Saunders ,  Francis M. Agresti

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

CPC classification number: B25J13/085 ,  B25J9/1694 ,  B25J13/081 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/10

Abstract: Example methods and devices for touch-down detection for a robotic device are described herein. In an example embodiment, a computing system may receive a force signal due to a force experienced at a limb of a robotic device. The system may receive an output signal from a sensor of the end component of the limb. Responsive to the received signals, the system may determine whether the force signal satisfies a first threshold and determine whether the output signal satisfies a second threshold. Based on at least one of the force signal satisfying the first threshold or the output signal satisfying the second threshold, the system of the robotic device may provide a touch-down output indicating touch-down of the end component of the limb with a portion of an environment.

Abstract translation: 本文描述了用于机器人装置的用于触摸屏下降检测的示例性方法和装置。 在示例性实施例中，计算系统可以由于在机器人装置的肢体处经受的力而接收力信号。 系统可以从肢体的末端部件的传感器接收输出信号。 响应于所接收的信号，系统可以确定力信号是否满足第一阈值并且确定输出信号是否满足第二阈值。 基于满足第一阈值的力信号或满足第二阈值的输出信号中的至少一个，机器人装置的系统可以提供指示肢体的末端部分的下降的触下输出，其中一部分 一个环境。

公开(公告)号：US09982790B1

公开(公告)日：2018-05-29

申请号：US14587822

申请日：2014-12-31

Applicant: Google Inc.

Inventor： John Aaron Saunders ,  Steve Potter ,  Haink Tu ,  Zachary Jackowski ,  Alex Khripin

IPC: F16K11/085 ,  F16K11/083 ,  F16K31/04

CPC classification number: F16K11/0856 ,  F16K11/083 ,  F16K11/0836 ,  F16K11/085 ,  F16K31/04 ,  F16K31/041 ,  Y10T137/86654 ,  Y10T137/87298

Abstract: Examples are provided that describe a rotary hydraulic valve. In one example, a rotary valve comprises a sleeve with a plurality of selector ports and one or more control ports spaced along a length of the sleeve. A spool comprising an internal chamber is provided within the sleeve. The spool includes a plurality of selector openings and one or more control openings spaced along a length of the spool. The rotary valve also comprises a controller for determining a given rotational movement of the spool based on a selection of a pressurized fluid. The rotary valve also comprises a motor coupled to the spool and for rotating the spool within the sleeve based on the given rotational movement. The motor is configured to cause a given alignment of the spool to the sleeve resulting in a pathway through the internal chamber of the spool and out to the sleeve.

公开(公告)号：US09499219B1

公开(公告)日：2016-11-22

申请号：US14605616

申请日：2015-01-26

Applicant: Google Inc.

Inventor： Zachary Jackowski ,  Kevin Blankespoor ,  John Aaron Saunders ,  Francis M. Agresti

IPC: B62D57/032 ,  B25J9/16

CPC classification number: B25J13/085 ,  B25J9/1694 ,  B25J13/081 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/10

Abstract: Example methods and devices for touch-down detection for a robotic device are described herein. In an example embodiment, a computing system may receive a force signal due to a force experienced at a limb of a robotic device. The system may receive an output signal from a sensor of the end component of the limb. Responsive to the received signals, the system may determine whether the force signal satisfies a first threshold and determine whether the output signal satisfies a second threshold. Based on at least one of the force signal satisfying the first threshold or the output signal satisfying the second threshold, the system of the robotic device may provide a touch-down output indicating touch-down of the end component of the limb with a portion of an environment.

Abstract translation: 本文描述了用于机器人装置的用于触摸屏下降检测的示例性方法和装置。 在示例性实施例中，计算系统可以由于在机器人装置的肢体处经受的力而接收力信号。 系统可以从肢体的末端部件的传感器接收输出信号。 响应于所接收的信号，系统可以确定力信号是否满足第一阈值并且确定输出信号是否满足第二阈值。 基于满足第一阈值的力信号或满足第二阈值的输出信号中的至少一个，机器人装置的系统可以提供指示肢体的末端部分的下降的触下输出，其中一部分 一个环境。