公开(公告)号：US09908240B1

公开(公告)日：2018-03-06

申请号：US15386830

申请日：2016-12-21

Applicant: Google Inc.

Inventor： Marco da Silva ,  Kevin Blankespoor ,  Gabriel Nelson

IPC: B25J9/00 ,  B25J9/16 ,  B25J5/00 ,  G01C9/00 ,  B62D57/032

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.

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：US20170089365A1

公开(公告)日：2017-03-30

申请号：US15373626

申请日：2016-12-09

Applicant: Google Inc.

Inventor： Alex Perkins ,  Kevin Blankespoor ,  Alfred Rizzi

IPC: F15B13/02 ,  F15B15/28 ,  F15B21/08 ,  F15B11/048

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.

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。