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    Systems and Methods for Robotic Self-Right
    62.
    发明申请
    Systems and Methods for Robotic Self-Right 有权
    机器人自主权的系统和方法

    公开(公告)号：US20160023354A1

    公开(公告)日：2016-01-28

    申请号：US14339841

    申请日：2014-07-24

    申请人： Google Inc.

    发明人： Alexander Douglas Perkins ,  Matthew Malchano ,  Shervin Talebinejad

    IPC分类号： B25J9/16 ,  B25J19/00 ,  B25J5/00

    CPC分类号： B25J9/1682 ,  B25J5/00 ,  B25J9/162 ,  B25J9/1674 ,  B25J19/002 ,  B62D57/032 ,  Y10S901/01

    摘要： Example systems and methods for self-righting a robotic device are provided. An example method may include determining an orientation of a bottom surface of a legged robotic device with respect to a ground surface. The method may also include determining that the robotic device is in an unstable position, based on the determined orientation. The method may also include performing a first action configured to return the robotic device to a stable position. The method may also include performing a first action configured to return the legged robotic device to the stable position. The method may also include performing a second action configured to return the legged robotic device to the stable position, if the legged robotic device is in the unstable position after the first action.

    摘要翻译： 提供了用于自动矫正机器人设备的示例系统和方法。 示例性方法可以包括确定腿式机器人装置的底面相对于地面的取向。 该方法还可以包括基于确定的取向来确定机器人装置处于不稳定位置。 该方法还可以包括执行配置为将机器人装置返回到稳定位置的第一动作。 该方法还可以包括执行配置成将有腿的机器人装置返回到稳定位置的第一动作。 如果腿式机器人装置在第一动作之后处于不稳定位置，则该方法还可以包括执行配置成将有腿机器人装置返回到稳定位置的第二动作。

    HUMANOID ROBOTICS SYSTEM AND METHODS
    69.
    发明申请
    HUMANOID ROBOTICS SYSTEM AND METHODS 审中-公开
    人类机器人系统和方法

    公开(公告)号：US20150336264A1

    公开(公告)日：2015-11-26

    申请号：US14814025

    申请日：2015-07-30

    申请人： Willow Garage, Inc.

    发明人： Eric H. Berger ,  Keenan Wyrobek

    IPC分类号： B25J5/00

    CPC分类号： B25J5/00 ,  B25J5/007 ,  B25J9/0006 ,  B25J19/0016 ,  Y10S901/01 ,  Y10S901/19 ,  Y10S901/27

    摘要： Systems and methods related to construction, configuration, and utilization of humanoid robotic systems and aspects thereof are described. A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base, which is preferably configured for holonomic or semi-holonomic motion through human scale travel pathways that are ADA compliant. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.

    摘要翻译： 描述与人形机器人系统的构造，配置和利用有关的系统和方法及其方面。 系统可以包括移动基座，脊柱结构，身体结构以及至少一个机器人臂，每个机械手臂可移动地配置成在规定的环境中具有显着的人体能力。 一个或多个机器人臂可以可旋转地联接到主体结构，其可以与移动基座机械相关联，移动基座优选地被配置为通过符合ADA的人体行进路径的全面或半整体运动。 一个或多个臂的方面可以与一个或多个弹簧式平衡机构相平衡，这些平衡机制有利于反向驱动性和有效载荷特征。