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公开(公告)号：US20230286167A1
公开(公告)日：2023-09-14
申请号：US18317788
申请日：2023-05-15
CPC分类号： B25J11/0035 , B25J9/162 , B25J9/1694 , G05D1/0212
摘要： The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.
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公开(公告)号：US20220032469A1
公开(公告)日：2022-02-03
申请号：US17451669
申请日：2021-10-21
发明人： Alex Khripin , Stephen Berard , Alfred Rizzi
IPC分类号： B25J9/20 , B25J5/00 , B62D57/032 , F15B9/09
摘要： An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, 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 may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.
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公开(公告)号：US20210107163A1
公开(公告)日：2021-04-15
申请号：US16600786
申请日：2019-10-14
摘要： The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.
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公开(公告)号：US20190376533A1
公开(公告)日：2019-12-12
申请号：US16550903
申请日：2019-08-26
发明人： Alex Perkins , Kevin Blankespoor , Alfred Rizzi
IPC分类号： F15B13/02 , F15B15/28 , F15B11/048 , F15B21/08 , F15B9/09
摘要： 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.
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