公开(公告)号：US11654569B2

公开(公告)日：2023-05-23

申请号：US17129996

申请日：2020-12-22

申请人： Boston Dynamics, Inc.

发明人： Kevin Blankespoor ,  Benjamin Stephens ,  Marco da Silva

IPC分类号： B25J9/16 ,  B62D57/032

CPC分类号： B25J9/1692 ,  B25J9/1628 ,  B62D57/032 ,  B25J9/16 ,  B25J9/1679 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/49

摘要： 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.

公开(公告)号：US20190217464A1

公开(公告)日：2019-07-18

申请号：US16212619

申请日：2018-12-06

申请人： UBTECH Robotics Corp

发明人： Youjun Xiong ,  Hao Dong ,  Yuesong Wang ,  Mingguo Zhao

IPC分类号： B25J9/00 ,  B25J9/16 ,  B25J19/02 ,  B25J13/08

CPC分类号： B25J9/0006 ,  B25J9/0009 ,  B25J9/1633 ,  B25J13/085 ,  B25J13/088 ,  B25J19/02 ,  B62D57/032

摘要： A method for controlling walking of a robot includes: determining a stance of the robot, in response to the robot being in a single-leg stance, determining a rotational angle of each of the joints, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints; in response to the robot being in a double-leg stance, calculating a position of a projection of a center of mass of the robot on a surface where the robot stands, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints according to the position of the projection; obtaining a feed-forward current of each of the joints; and applying the feed-forward current of each of the joints to a corresponding actuator of this joints.

公开(公告)号：US20180186415A1

公开(公告)日：2018-07-05

申请号：US15633647

申请日：2017-06-26

申请人： UBTECH Robotics Corp.

发明人： YOUJUN XIONG ,  Xiongxing Zha

IPC分类号： B62D57/032 ,  G06F1/32

CPC分类号： B62D57/032 ,  B25J13/00 ,  G06F1/3212

摘要： An anti-falling method during power outage includes: transmitting first controlling signals to a first leg mechanism and a second leg mechanism to control a first leg and a second leg of the robot to be perpendicular to ground upon determining a power outage condition; transmitting second controlling signals to the first leg mechanism and/or the second leg mechanism to control the first leg and/or the second leg of the robot; controlling the first leg and/or the second leg to move the center of gravity of the robot close to the ground; transmitting third controlling signals to the first leg mechanism and the second leg mechanism to stop movements of the first leg mechanism and the second leg mechanism upon determining a stop condition.

公开(公告)号：US20180186015A1

公开(公告)日：2018-07-05

申请号：US15465609

申请日：2017-03-22

申请人： UBTECH Robotics Corp.

发明人： YOUJUN XIONG ,  Feng Hu ,  Xinpu Chen

IPC分类号： B25J17/00 ,  B62D57/032 ,  B25J15/02

CPC分类号： B25J17/00 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/28

摘要： A foot structure for contacting the ground and connecting to a leg structure of a humanoid robot, includes: a foot assembly for contacting the ground; a first servo mounted on the foot assembly and including a first output shaft; a connecting assembly rotatably connected to the foot assembly and to constitute an ankle portion; and a second servo mounted on the connecting assembly and connected with the leg structure, the second servo including a second output shaft perpendicular to the first output shaft; the connecting assembly being arranged perpendicularly to the foot assembly and including a first connecting structure used to mount the first output shaft and rotatably connected to the foot assembly, and a second connecting structure connected to the first connecting structure and used to mount the second output shaft.

公开(公告)号：US10011010B2

公开(公告)日：2018-07-03

申请号：US14952228

申请日：2015-11-25

申请人： The Board of Trustees of the Leland Stanford Junior University

发明人： David L. Christensen ,  Elliot W. Hawkes ,  Mark R Cutkosky

IPC分类号： B62D57/024 ,  B25J7/00 ,  B62D57/032

CPC分类号： B25J7/00 ,  B62D57/024 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/14

摘要： A method of towing or pushing an object using a micro-robot is provided that includes attaching a micro-robot, using a first dry adhesive, to a surface, where the dry adhesive includes micro wedges, where the micro wedges are attached to the surface when the micro wedges are in a deformed state, applying a load to the attached micro-robot, advancing the micro-robot, using a lifting element, where the lifting element includes a uni-directional footing, where the lifting element is disposed to detach the first dry adhesive and advance the micro-robot across the surface while the uni-directional footing is attached to the surface, where the detached first dry adhesive includes micro wedges in an free-standing state, where the load is advanced across the surface.

公开(公告)号：US10000248B1

公开(公告)日：2018-06-19

申请号：US15729958

申请日：2017-10-11

申请人： Schaft Inc.

发明人： Junichi Urata ,  Yoshito Ito

IPC分类号： B25J9/16 ,  B25J5/00 ,  B62D57/032

CPC分类号： B62D57/032 ,  B25J5/00 ,  B25J9/16 ,  B25J13/085

摘要： Example embodiments relate to a robotic device with at least two legs. Each leg includes a foot including a first sole and a second sole perpendicular to the first sole. Each leg additionally includes an ankle joint configured to rotate the foot from a first position in which the first sole is contacting a ground surface to a second position in which the second sole is contacting the ground surface. The robotic device includes a control system. When the foot of a given leg of the at least two legs is in the first position, the control system may determine to cause the foot of the given leg to switch from the first position to the second position, and may cause the ankle joint of the given leg to rotate the foot of the given leg from the first position to the second position.

公开(公告)号：US20180127092A1

公开(公告)日：2018-05-10

申请号：US15687936

申请日：2017-08-28

申请人： Patrick del Castillo ,  Jason Curtis Miller

发明人： Patrick del Castillo ,  Jason Curtis Miller

IPC分类号： B64C37/00 ,  B60F5/02 ,  B64C39/02 ,  B64D1/22 ,  B64C11/28 ,  B62D57/032

CPC分类号： B64C37/00 ,  B60F5/02 ,  B62D57/032 ,  B64C11/28 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/042 ,  B64C2201/088 ,  B64C2201/108 ,  B64C2201/126 ,  B64C2201/146 ,  B64C2201/165 ,  B64D1/22

摘要： The present application discloses an apparatus capable of walking and flight. This apparatus includes a central section supported by a plurality of limbs, wherein a distal end of each of the plurality of limbs defines a contact surface. These limbs are configured to generate a walking-type motion in which the contact surfaces of the limbs cooperate with an environmental surface in a manner sufficient to propel the central section relative the environmental surface. The apparatus further includes a motor operably coupled to at least one limb of the plurality of limbs, wherein the motor is drivingly coupled to a propeller, and wherein the motor and propeller are configured to propel the central section in flight.

公开(公告)号：US20180111272A1

公开(公告)日：2018-04-26

申请号：US15715259

申请日：2017-09-26

申请人： Fu Tai Hua Industry (Shenzhen) Co., Ltd. ,  HON HAI PRECISION INDUSTRY CO., LTD.

发明人： XUE-QIN ZHANG

IPC分类号： B25J11/00 ,  B62D57/032 ,  G05D1/02

CPC分类号： B25J11/009 ,  B25J11/00 ,  B25J13/00 ,  B62D57/032 ,  G05D1/0214 ,  G05D1/0246 ,  G05D1/0255 ,  G05D2201/0217 ,  Y10S901/01

摘要： A companion robot includes a body, a sensing unit, a positioning unit, a network unit, an input unit, a storage device, and at least one processor. The processor controls the companion robot to receive a destination, generate a walking path of the companion robot according to the destination and a current location of the companion robot, obtain a walking direction and a walking speed of a user, and control the companion robot to walk along the walking path according to the walking direction and the walking speed.

公开(公告)号：US20180107175A1

公开(公告)日：2018-04-19

申请号：US15292525

申请日：2016-10-13

申请人： DISNEY ENTERPRISES, INC.

发明人： SEHOON HA ,  ALEXANDER NICHOLAS ALSPACH ,  JOOHYUNG KIM ,  KATSU YAMANE ,  STELIAN COROS

IPC分类号： G05B13/02 ,  G05B11/01

CPC分类号： G05B13/0255 ,  B25J9/1656 ,  B62D57/032 ,  G05B11/01 ,  G05B2219/34348 ,  G05B2219/39408 ,  G05B2219/39409 ,  G05B2219/40099

摘要： A robot design system, and associated method, that is particularly well-suited for legged robots (e.g., monopods, bipeds, and quadrupeds). The system implements three stages or modules: (a) a motion optimization module; (b) a morphology optimization module; and (c) a link length optimization module. The motion optimization module outputs motion trajectories of the robot's center of mass (COM) and force effectors. The morphology optimization module uses as input the optimized motion trajectories and a library of modular robot components and outputs an optimized robot morphology, e.g., a parameterized mechanical design in which the number of links in each of the legs and other parameters are optimized. The link length optimization module takes this as input and outputs optimal link lengths for a particular task such that the design of a robot is more efficient. The system solves the problem of automatically designing legged robots for given locomotion tasks by numerical optimization.

公开(公告)号：US09868210B1

公开(公告)日：2018-01-16

申请号：US14984177

申请日：2015-12-30

申请人： Google Inc.

发明人： Eric Whitman

IPC分类号： B25J9/16 ,  B62D57/032

CPC分类号： B62D57/032 ,  Y10S901/01 ,  Y10S901/47

摘要： Example methods and systems for planning a body position for a robotic device are described. An example method includes receiving a reference step path that defines predetermined step locations for end components of a robotic device. The method also includes receiving a set of constraints, receiving a predetermined height and pitch, and assigning a cost to each of a height of the body, a height acceleration of the body, and a pitch acceleration of the body. The method also includes determining a new height and a new pitch of the body that reduces the height acceleration and the pitch acceleration of the body when the end component moves along the reference step path. Further, the method includes instructing the robotic device to actuate the plurality of appendages to achieve the new height and the new pitch of the body when the end component moves along the reference step path.