公开(公告)号：US10987813B1

公开(公告)日：2021-04-27

申请号：US16374342

申请日：2019-04-03

Applicant: X Development LLC

Inventor： Benjamin Holson ,  Jeffrey Bingham ,  Ben Berkowitz

IPC: G06F17/00 ,  B25J9/16 ,  B25J5/00 ,  G01C9/00

Abstract: Methods, apparatus, and computer readable media applicable to robots, such as balancing robots. Some implementations are directed to determining multiple measures of a property of a robot for a given time and determining a final measure of the property of the robot for the given time based on the multiple measures. One or more control commands may be generated based on the final measure of the property and provided to one or more actuators of the robot.

公开(公告)号：US10906174B2

公开(公告)日：2021-02-02

申请号：US16553480

申请日：2019-08-28

Applicant: X Development LLC

Inventor： Ben Berkowitz ,  Seth Gilbertson ,  Marc Strauss

IPC: A61H1/02 ,  B25J9/10 ,  F16H19/02 ,  B25J13/08

Abstract: A device is provided. The device includes a worm drive comprising a worm and a worm gear. The device also includes an actuator comprising a motor, a shaft, and the worm, wherein the shaft is configured to rotate about a shaft axis, and the actuator is configured to (i) drive the worm drive, and (ii) move linearly along the shaft axis. The device also includes a first spring and a second spring, wherein the second ends are fixed, and wherein the first and second springs are configured to resist movement of the actuator along the shaft axis in opposite directions as a result of forces transmitted through the worm drive. The device further includes a linear position encoder configured to determine a position of the actuator along the shaft axis.

公开(公告)号：US20200376656A1

公开(公告)日：2020-12-03

申请号：US16884873

申请日：2020-05-27

Applicant: X Development LLC

Inventor： Ben Berkowitz ,  Justine Rembisz ,  Vincent Nabat ,  Joshua Seal ,  Gregory Katz ,  Chris Jones ,  Nicholas Foster ,  Christopher Morey ,  John Tran ,  Marc Strauss ,  Philip Mullins ,  Jonathan Souliere ,  Sarah Bates ,  Matthew Day ,  Robert Wilson ,  Mario Prats

IPC: B25J9/16 ,  B25J5/00 ,  B25J9/00 ,  B25J17/00 ,  B25J17/02 ,  B25J15/00

Abstract: In an embodiment, a mobile robotic device includes a mobile base and a mounting column fixed to the mobile base. The robotic device further includes a seven-degree-of-freedom (7DOF) robotic arm, including a rotatable joint that enables rotation of the 7DOF robotic arm relative to the mounting column. The robotic device additionally includes a perception housing comprising at least one sensor, where the mounting column, the rotatable joint of the 7DOF arm, and the perception housing are arranged in a stacked tower such that the rotatable joint of the 7DOF arm is above the mounting column and below the perception housing.

公开(公告)号：US20190381655A1

公开(公告)日：2019-12-19

申请号：US16553480

申请日：2019-08-28

Applicant: X Development LLC

Inventor： Ben Berkowitz ,  Seth Gilbertson ,  Marc Strauss

IPC: B25J9/10 ,  F16H19/02 ,  B25J13/08

Abstract: A device is provided. The device includes a worm drive comprising a worm and a worm gear. The device also includes an actuator comprising a motor, a shaft, and the worm, wherein the shaft is configured to rotate about a shaft axis, and the actuator is configured to (i) drive the worm drive, and (ii) move linearly along the shaft axis. The device also includes a first spring and a second spring, wherein the second ends are fixed, and wherein the first and second springs are configured to resist movement of the actuator along the shaft axis in opposite directions as a result of forces transmitted through the worm drive. The device further includes a linear position encoder configured to determine a position of the actuator along the shaft axis.