公开(公告)号：US09878751B1

公开(公告)日：2018-01-30

申请号：US14878007

申请日：2015-10-08

Applicant: Google Inc.

Inventor： Christopher Everett Thorne ,  John Aaron Saunders ,  Marco da Silva ,  Thomas H. Miller ,  Alexander Douglas Perkins

IPC: B62D57/032 ,  B25J9/16

CPC classification number: B62D57/032 ,  B25J9/162 ,  B25J9/1633 ,  Y10S901/01 ,  Y10S901/28

Abstract: An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.

公开(公告)号：US09623568B1

公开(公告)日：2017-04-18

申请号：US15145773

申请日：2016-05-03

Applicant: Google Inc.

Inventor： Marco da Silva ,  Kevin Blankespoor ,  Michael Rose

IPC: B25J13/08 ,  B25J9/00 ,  G05D1/08 ,  G01C19/5705

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.

公开(公告)号：US09618937B1

公开(公告)日：2017-04-11

申请号：US14468146

申请日：2014-08-25

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Alex Perkins ,  Marco da Silva

IPC: G01C22/00 ,  G05D1/00 ,  G05D1/02 ,  B62D57/02 ,  G05B15/00 ,  G05B19/00 ,  G05B19/18 ,  G06F19/00

CPC classification number: G05D1/021 ,  B25J13/08 ,  B62D57/02 ,  B62D57/032 ,  Y10S901/01

Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.

公开(公告)号：US09561592B1

公开(公告)日：2017-02-07

申请号：US14713569

申请日：2015-05-15

Applicant: Google Inc.

Inventor： Marco da Silva ,  Kevin Blankespoor ,  Gabriel Nelson

IPC: G05B19/00 ,  B25J9/16 ,  G01C9/00 ,  B25J5/00

CPC classification number: B25J5/00 ,  B62D57/032 ,  Y10S901/01

Abstract: An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) determining, for a particular topographical feature of the environment in a direction of travel of the robotic device, a height of the particular topographical feature and a distance between the robotic device and the particular topographical feature, (iii) estimating a ground plane extending from the robotic device in the direction of travel toward the particular topographical feature, the ground plane fitting to the determined distance and height, (iv) determining a grade of the estimated ground plane, and (v) directing the robotic device to adjust pitch in proportion to the determined grade.

Abstract translation: 示例性实现包括（i）接收指示机器人设备正在操作的环境的外形特征的传感器数据，（ii）针对机器人设备的行进方向的环境的特定地形特征确定高度 具体地形特征以及机器人装置与特定地形特征之间的距离，（iii）估计从机器人装置沿着行进方向向特定地形特征延伸的接地平面，接地平面拟合到所确定的距离， 高度，（iv）确定估计的接地平面的等级，以及（v）引导机器人装置与所确定的等级成比例地调节间距。