公开(公告)号：US20180106276A1

公开(公告)日：2018-04-19

申请号：US15846362

申请日：2017-12-19

Applicant: Boston Dynamics, Inc.

Inventor： Zachary John Jackowski ,  Alex Khripin ,  Stephen Berard ,  Alfred Anthony Rizzi

IPC: F15B1/04 ,  F15B1/033 ,  F15B21/00

Abstract: A control system may receive sensor data indicative of respective fluid levels of two or more hydraulic accumulators configured to operate at respective target fluid levels within a hydraulic system. The control system may determine respective errors of the hydraulic accumulators based on the respective fluid levels and respective target fluid levels of the hydraulic accumulators. The respective errors may correspond to pressure errors, fluid volume errors, or other types of errors of the hydraulic accumulators. Responsive to determining the respective errors, the control system may determine that the error of a given hydraulic accumulator is greater than errors of the other hydraulic accumulators and provide instructions to control a hydraulic valve to supply fluid from a single pump of the hydraulic system to the given hydraulic accumulator