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    Assisted Roadmap Generation
    72.
    发明申请
    Assisted Roadmap Generation 有权

    公开(公告)号：US20180094938A1

    公开(公告)日：2018-04-05

    申请号：US15730422

    申请日：2017-10-11

    Applicant: X Development LLC

    Inventor： Geoffrey Lalonde ,  Peter Anderson-Sprecher

    IPC: G01C21/30 ,  G06F17/30

    CPC classification number: G01C21/30 ,  B62D15/02 ,  G05D1/0274 ,  G05D2201/0216 ,  G06F17/30241 ,  G06T11/60 ,  Y10S901/01

    Abstract: Systems and methods related to roadmaps for mobile robotic devices are provided. A computing device can receive a roadmap. The roadmap can include an intersection between first and second edges. The computing device can determine a transition curve between the first and second edges and includes first, second, and third curve segments. The first and second curve segments can connect at a first curve junction point. The second and third curve segments can connect at a second curve junction point. The first and third curve segments each include a segment of an Euler spiral and the second curve segment can be a circular curve segment having a fixed radius. The computing device can update the roadmap by replacing the intersection between the first and second edges with the transition curve. The computing device can provide the updated roadmap.

    Spherical electro-magnetically initiated traveling excursor
    75.
    发明授权
    Spherical electro-magnetically initiated traveling excursor 有权

    公开(公告)号：US09933788B1

    公开(公告)日：2018-04-03

    申请号：US15661389

    申请日：2017-07-27

    Applicant: Gerhard W. Thielman

    Inventor： Gerhard W. Thielman

    IPC: G05D1/08 ,  B62D57/00 ,  F03G3/08 ,  F03G3/00 ,  G05D1/00

    CPC classification number: G05D1/0891 ,  B62D57/00 ,  F03G3/00 ,  F03G3/08 ,  G05D1/0011 ,  Y10S901/01

    Abstract: A spherical modular autonomous robotic traveler (SMART) is provided for rolling along a surface from a first position to a second position. The SMART includes an outer spherical shell; an inner spherical chamber disposed within the outer shell; a plurality of weight-shifters arranged within the inner chamber; and a controller therein. The chamber maintains its orientation relative to the surface by a gyroscopically homing stabilizer. Each weight-shifter includes a mass disposed in a default position, and movable to an active position in response to activation. The controller selectively activates a weight-shifter among the plurality to shift the mass from the default position to the active position. The outer shell rolls in a direction that corresponds to the weight-shifter activated by the controller. For the spherical electromagnetically initiated traveling excursor (SEMITE), each weight-shifter includes a channel containing an armature and an electromagnet activated by the controller. For the symmetrical configuration, the channel is oriented from bottom periphery to lateral radial periphery of the inner chamber. The electromagnet is disposed proximal to the channel at the lateral radial periphery. The armature travels from the bottom periphery within the channel to the lateral radial periphery upon activation of the electromagnet.

    Methods and devices for automatic gait transition
    76.
    发明授权
    Methods and devices for automatic gait transition 有权

    公开(公告)号：US09931753B1

    公开(公告)日：2018-04-03

    申请号：US14807018

    申请日：2015-07-23

    Applicant: Google Inc.

    Inventor： Alfred Anthony Rizzi ,  Kevin Blankespoor ,  Matthew David Malchano ,  Mathew Livianu

    IPC: B25J13/08 ,  B25J19/02 ,  B62D57/032 ,  G06N3/00

    CPC classification number: B25J13/08 ,  B25J19/02 ,  G06N3/008 ,  Y10S901/01 ,  Y10S901/09

    Abstract: Examples method and devices for automatic gait transition are described herein. In an example embodiment, a computing system may identify gaits for the robotic device to perform in response to receiving an input for the robotic device to move at a velocity. The system may determine criteria for selecting a gait from the identified gaits for the robotic device to perform based on sensor data of the environment (e.g., slope and terrain) and based on the state of the robotic device. The system may modify the set of criteria based on prior operation of the robotic device in respective environments similar to the environment. Responsive to determining the criteria for selecting a gait, the computing system may determine whether the identified gaits include a gait that enables the robotic device to move at the velocity according to the set of criteria, and provide instructions to operate based on the determination.

    Heterogeneous fleet of robots for collaborative object processing
    78.
    发明授权
    Heterogeneous fleet of robots for collaborative object processing 有权

    公开(公告)号：US09927815B2

    公开(公告)日：2018-03-27

    申请号：US15649080

    申请日：2017-07-13

    Applicant: X Development LLC

    Inventor： Stefan Nusser ,  Troy Straszheim ,  John Zevenbergen ,  Ethan Rublee

    IPC: G05D1/02 ,  B65G1/137 ,  B65G57/03

    CPC classification number: G05D1/0287 ,  B65G1/137 ,  B65G57/03 ,  G05B19/00 ,  G05D1/0297 ,  G05D2201/0216 ,  Y10S901/01

    Abstract: Example systems and methods may provide for a heterogeneous fleet of robotic devices for collaborative object processing in an environment, such as a warehouse. An example system includes a plurality of mobile robotic devices configured to transport one or more objects within an environment, a fixed robotic manipulator positioned within the environment that is configured to manipulate one or more objects within an area of reach of the fixed robotic manipulator, and a control system. The control system may be configured to cause one or more of the plurality of mobile robotic devices to deliver at least one object to at least one location within the area of reach of the fixed robotic manipulator, and to cause the fixed robotic manipulator to distribute the at least one object to a different one or more of the plurality of mobile robotic devices for delivery to one or more other locations within the environment.

    Spherica weight-shifting integral free-rolling tumbler
    80.
    发明授权
    Spherica weight-shifting integral free-rolling tumbler 有权

    公开(公告)号：US09921587B1

    公开(公告)日：2018-03-20

    申请号：US15661466

    申请日：2017-07-27

    Applicant: Gerhard W. Thielman

    Inventor： Gerhard W. Thielman

    IPC: G05D1/08 ,  B62D57/00 ,  F03G3/08 ,  F03G3/00 ,  G05D1/00

    CPC classification number: G05D1/0891 ,  B62D57/00 ,  F03G3/00 ,  F03G3/08 ,  G05D1/0011 ,  Y10S901/01

    Abstract: A spherical weight-shifting integral free-rolling tumbler (SWIFT) is provided for rolling along a surface in a command direction. The SWIFT includes a spherical shell, a cubic box within the shell held by spars, and a controller. The box has six panels, and each panel connects to a weight-shifter. Each weight-shifter includes an actuator and a movable mass. The controller for selectively activates the weight-shifter among the panels to translate the mass from the default position to the active position. The controller operates a first switch that corresponds to panels facing away from the surface, and in combination operates a second switch that corresponds to a weight-shifter approximately facing the command direction to roll the shell accordingly.

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