公开(公告)号：US20160023647A1

公开(公告)日：2016-01-28

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

IPC: B60W10/08 ,  B62D57/02 ,  B60W10/04

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）。