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    Rotary hydraulic valve
    11.
    发明授权
    Rotary hydraulic valve 有权

    公开(公告)号：US09611946B1

    公开(公告)日：2017-04-04

    申请号：US14827531

    申请日：2015-08-17

    Applicant: Google Inc.

    Inventor： Steven D. Potter ,  John Aaron Saunders

    IPC: F16K11/085 ,  F16K31/12

    CPC classification number: F15B13/0406 ,  F15B11/10 ,  F15B2211/30525 ,  F15B2211/7055 ,  F16K11/0856 ,  F16K31/041

    Abstract: An example valve includes a sleeve having a plurality of openings. A spool is rotatable within the sleeve and includes a respective plurality of openings corresponding to the plurality of openings of the sleeve. A rotary actuator coupled to the spool is configured for rotating the spool within the sleeve to one of at least eight rotary positions. The rotary actuator can rotate the spool to a given rotary position in a clockwise or a counter-clockwise direction to cause at least a partial alignment between a subset of the respective plurality of openings of the spool and a subset of the plurality of openings of the sleeve.

    Rotary Valve with Brake Mode
    12.
    发明申请
    Rotary Valve with Brake Mode 有权
    带制动模式的旋转阀

    公开(公告)号：US20160348798A1

    公开(公告)日：2016-12-01

    申请号：US15232050

    申请日：2016-08-09

    Applicant: Google Inc.

    Inventor： John Aaron Saunders ,  Steven D. Potter

    IPC: F16K11/085 ,  F15B13/04

    CPC classification number: F16K11/0856 ,  F15B13/0406 ,  F15B13/0444 ,  F15B2211/3127 ,  F16K11/06 ,  F16K31/042 ,  Y10T137/86646 ,  Y10T137/86654 ,  Y10T137/86662

    Abstract: An example valve includes a sleeve having a plurality of openings configured along a length of the sleeve. A spool is rotatable within the sleeve and includes a respective plurality of openings along a length of the spool corresponding to the plurality of openings of the sleeve. A rotary actuator coupled to the spool is configured for rotating the spool within the sleeve. The rotary actuator can rotate the spool to a given rotary position in a clockwise or a counter-clockwise direction to cause at least a partial alignment between a subset of the respective plurality of openings of the spool and a subset of the plurality of openings of the sleeve.

    Abstract translation: 示例性阀包括具有沿套筒的长度配置的多个开口的套筒。 线轴可在套筒内旋转，并且包括相应于多个开口，该开口沿着与所述套筒的多个开口相对应的所述线轴长度。 联接到线轴的旋转致动器构造成用于使套筒内的线轴旋转。 旋转致动器可以以顺时针或逆时针方向将线轴旋转到给定的旋转位置，以使得线轴的相应多个开口的子集和多个开口的子集之间的至少部分对准 袖。

    Touch-down sensing for robotic devices
    13.
    发明授权
    Touch-down sensing for robotic devices 有权
    机器人设备的触摸感应

    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。

    Hybrid hydraulic and electrically actuated mobile robot
    14.
    发明授权
    Hybrid hydraulic and electrically actuated mobile robot 有权
    混合液压和电动移动机器人

    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

    IPC: B60W10/08 ,  B60W10/04 ,  B62D57/02 ,  B25J3/04 ,  F15B15/08 ,  B25J9/14 ,  F15B9/09

    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）。

    Rotary Hydraulic Valve
    17.
    发明申请
    Rotary Hydraulic Valve 审中-公开

    公开(公告)号：US20170159680A1

    公开(公告)日：2017-06-08

    申请号：US15439340

    申请日：2017-02-22

    Applicant: Google Inc.

    Inventor： Steven D. Potter ,  John Aaron Saunders

    IPC: F15B13/04 ,  F15B11/10 ,  F16K11/085

    CPC classification number: F15B13/0406 ,  F15B11/10 ,  F15B2211/30525 ,  F15B2211/7055 ,  F16K11/0856 ,  F16K31/041

    Abstract: An example valve includes a sleeve having a plurality of openings. A spool is rotatable within the sleeve and includes a respective plurality of openings corresponding to the plurality of openings of the sleeve. A rotary actuator coupled to the spool is configured for rotating the spool within the sleeve to one of at least eight rotary positions. The rotary actuator can rotate the spool to a given rotary position in a clockwise or a counter-clockwise direction to cause at least a partial alignment between a subset of the respective plurality of openings of the spool and a subset of the plurality of openings of the sleeve.

    Integrated valve for a legged robot
    18.
    发明授权
    Integrated valve for a legged robot 有权

    公开(公告)号：US09665099B1

    公开(公告)日：2017-05-30

    申请号：US14985796

    申请日：2015-12-31

    Applicant: Google Inc.

    Inventor： John Aaron Saunders ,  Malik Hansen ,  Jan Komsta

    IPC: G05D1/02 ,  A63H11/00

    CPC classification number: F16K11/0856 ,  A63H11/00 ,  B25J9/14 ,  B25J9/144 ,  F15B13/021 ,  F15B13/0406 ,  F15B13/044 ,  F15B2013/0409 ,  F15B2211/6336 ,  F16K31/00 ,  F16K37/0041 ,  F16K37/005 ,  G05D1/021 ,  Y10S901/01

    Abstract: An example valve includes: a sleeve having a plurality of sleeve openings; a first conduit configured to be in hydraulic communication with a first chamber, where a first pressure sensor is disposed in the first conduit and configured to measure a pressure level of fluid in the first chamber; a second conduit configured to be in hydraulic communication with a second chamber, where a second pressure sensor is disposed in the second conduit and configured to measure a pressure level of fluid in the second chamber; a spool rotatable within the sleeve, wherein the spool includes a plurality of spool openings respectively corresponding to the plurality of sleeve openings; a rotary actuator coupled to the spool and configured to rotate the spool within the sleeve in clockwise and counter-clockwise directions; and a controller configured to cause the spool to rotate to one of a plurality of rotary positions.

    Touch-down Sensing for Robotic Devices
    20.
    发明申请
    Touch-down Sensing for Robotic Devices 审中-公开
    机器人设备触摸感应

    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。

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