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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。
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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。
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公开(公告)号：US09969087B1
公开(公告)日：2018-05-15
申请号：US15232439
申请日：2016-08-09
Applicant: Google Inc.
Inventor： Kevin Blankespoor
CPC classification number: B25J9/1666 , B25J9/1676 , B62D57/00 , G05B2219/39096 , Y10S901/01 , Y10S901/02 , Y10S901/28
Abstract: An example implementation for avoiding leg collisions may involve a biped robot reducing a three-dimensional system to a two-dimensional projection of the biped robot's feet. An example biped robot may determine a touchdown location for a swing foot. The biped robot may determine lateral positions of the touchdown location and the swing foot, each relative to a stance foot. Based on one or more of the determined lateral positions of the touchdown location and the swing foot, each relative to the stance foot, the biped robot may determine an intermediate swing point for the swing foot that is not on a line defined by the swing foot and the touchdown location. The biped robot may further cause the swing foot to move to the intermediate swing point, and then cause the swing foot to move to the touchdown location.
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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。
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公开(公告)号：US09259838B1
公开(公告)日：2016-02-16
申请号：US14339860
申请日：2014-07-24
Applicant: Google Inc.
Inventor： Kevin Blankespoor , Gabriel Nelson , Neil Neville
CPC classification number: G05D1/0088 , B25J9/0006 , B25J9/1615 , B25J9/1694 , B25J9/1697 , B62D57/032 , G05D1/0891 , Y10S901/01
Abstract: Example systems and methods for estimating a ground plane are provided. An example method may include determining an orientation of a body of a robotic device with respect to a gravity aligned reference frame. The method may also include determining the location of one or more contact points between the robotic device and a ground surface. The method may also include determining a ground plane estimation of the ground surface based on the determined orientation of the robotic device with respect to the gravity aligned reference frame and the determined locations of the one or more contact points. The method may also include determining a distance between the body of the robotic device and the determined ground plane estimation. The method may also include providing instructions to adjust a position and/or orientation of the robotic device based on the determined distance and the determined ground plane estimation.
Abstract translation: 提供了用于估计接地平面的示例系统和方法。 示例性方法可以包括相对于重力对准的参考系来确定机器人装置的主体的取向。 该方法还可以包括确定机器人装置和地面之间的一个或多个接触点的位置。 该方法还可以包括基于所确定的机器人装置相对于重力对准的参考系的方位和所确定的一个或多个接触点的位置来确定地面的接地面估计。 该方法还可以包括确定机器人装置的主体与所确定的接地平面估计之间的距离。 该方法还可以包括提供基于所确定的距离和所确定的接地平面估计来调整机器人装置的位置和/或取向的指令。
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Patent Agency Ranking
公开(公告)号：US09804600B1
公开(公告)日：2017-10-31
申请号：US14988913
申请日：2016-01-06
Applicant: Google Inc.
Inventor： Kevin Blankespoor , Gabriel Nelson , Neil Neville
CPC classification number: G05D1/0088 , B25J9/0006 , B25J9/1615 , B25J9/1694 , B25J9/1697 , B62D57/032 , G05D1/0891 , Y10S901/01
Abstract: Example systems and methods for estimating a ground plane are provided. An example method may include determining an orientation of a body of a robotic device with respect to a gravity aligned reference frame. The method may also include determining the location of one or more contact points between the robotic device and a ground surface. The method may also include determining a ground plane estimation of the ground surface based on the determined orientation of the robotic device with respect to the gravity aligned reference frame and the determined locations of the one or more contact points. The method may also include determining a distance between the body of the robotic device and the determined ground plane estimation. The method may also include providing instructions to adjust a position and/or orientation of the robotic device based on the determined distance and the determined ground plane estimation.
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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.
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公开(公告)号：US09546672B2
公开(公告)日：2017-01-17
申请号：US14489778
申请日：2014-09-18
Applicant: Google Inc.
Inventor： Alex Perkins , Kevin Blankespoor , Alfred Rizzi
IPC: F15B9/09 , F15B13/02 , F15B21/08 , F15B15/28 , F15B11/048
CPC classification number: F15B13/021 , F15B9/09 , F15B11/048 , F15B15/28 , F15B15/2815 , F15B21/08 , F15B2211/30575 , F15B2211/6336 , F15B2211/665 , F15B2211/6654 , F15B2211/6656 , F15B2211/6658 , F15B2211/7053 , F15B2211/755 , F15B2211/7653 , F15B2211/8606 , G05B19/00
Abstract: 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.
Abstract translation: 在一些应用中，液压致动器的活塞可以高速运动，并且如果活塞以高速到达液压致动器的终端，则可能产生大的不期望的力。 例如，不期望的力可能导致液压致动器中的机械损坏。 控制器可以接收指示活塞到达终端的第一阈值距离处的第一位置的信息，并且作为响应，可以将信号修改为控制液压流体流向和从液压致动器流出的阀组件。 此外，控制器可以接收指示活塞到达靠近液压致动器的停止的第二阈值距离处的第二位置的信息，并且作为响应，控制器可以进一步修改到阀组件的信号，以便 在活塞上远离终点站施加力。
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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。
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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.
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