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公开(公告)号：US20170225333A1
公开(公告)日：2017-08-10
申请号：US15495905
申请日：2017-04-24
Applicant: Google Inc.
Inventor： Alex Khripin , Alfred Anthony Rizzi
IPC: B25J9/16 , B62D57/032
CPC classification number: B25J9/1694 , B25J9/1664 , B62D57/032 , G05B2219/39082 , G05B2219/39215 , G05B2219/39325 , G05D2201/0217 , Y10S901/01 , Y10S901/09 , Y10S901/46
Abstract: A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.
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公开(公告)号：US09662792B2
公开(公告)日：2017-05-30
申请号：US14659012
申请日：2015-03-16
Applicant: Google Inc.
Inventor： Alex Khripin , Alfred Anthony Rizzi
IPC: G05B15/00 , G05B19/00 , B25J9/16 , B62D57/032
CPC classification number: B25J9/1694 , B25J9/1664 , B62D57/032 , G05B2219/39082 , G05B2219/39215 , G05B2219/39325 , G05D2201/0217 , Y10S901/01 , Y10S901/09 , Y10S901/46
Abstract: A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.
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公开(公告)号：US09395726B1
公开(公告)日：2016-07-19
申请号：US14573092
申请日：2014-12-17
Applicant: Google Inc.
Inventor： Alfred Anthony Rizzi , Alex Khripin , Michael Scott Rose , Gina Fay , Stephen Berard
CPC classification number: B62D57/032 , Y10S901/01
Abstract: Examples for implementing bound and gallop gaits are described herein. A computing system may receive an input for a robotic device to perform a gallop gait or a bound gait. Responsive to receiving the input, the computing system may determine a state of the robotic device based on sensor data monitoring the robotic legs. A sagittal controller of the robotic device may determine vertical impulses and target locations for controlling the legs during the gallop gait based on a pitch, a height, and a velocity of the robotic device. One or more continuous controllers may determine adjustments for controlling the legs based on a roll, a yaw, and/or lateral motions of the robotic device that may result from the robotic device traveling at the velocity and direction as specified in the input. Further, to perform the gait, the controllers may provide instructions to control the legs.
Abstract translation: 本文描述了实施绑定和驰骋步态的实例。 计算系统可以接收用于机器人装置的输入以执行驰骋步态或束缚步态。 响应于接收输入，计算系统可以基于监测机器人腿的传感器数据来确定机器人设备的状态。 机器人装置的矢状控制器可以基于机器人装置的俯仰，高度和速度确定在驰骋步态期间控制腿的垂直脉冲和目标位置。 一个或多个连续控制器可以基于机器人装置的滚动，偏航和/或侧向运动来确定用于控制腿部的调节，该机器人装置可能由机器人装置在输入中指定的速度和方向上行进。 此外，为了执行步态，控制器可以提供控制腿的指令。
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公开(公告)号：US20160151911A1
公开(公告)日：2016-06-02
申请号：US15016729
申请日：2016-02-05
Applicant: Google Inc.
Inventor： John Aaron Saunders , Alex Khripin , Steven Potter , Michael Patrick Murphy , Christopher Everett Thorne
CPC classification number: B25J9/126 , B25J3/04 , B25J9/144 , B25J9/1602 , B60W10/04 , B60W10/08 , B62D57/02 , B62D57/032 , F15B9/09 , F15B15/088 , F15B18/00 , F15B2211/7135 , F15B2211/78 , Y10S901/01 , Y10S901/22 , Y10S901/23
Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).
Abstract translation: 示例性实施例可以涉及包括液压致动器和耦合到机器人系统的接头的电动致动器的机器人系统。 致动器的操作可以基于诸如基于期望的关节参数的各种因素。 例如，这种所需的关节参数可以包括所需的输出扭矩/关节力，关节的期望输出速度，关节的期望加速度和/或期望的关节角度以及其它可能性。 给定功率模型以及致动器的模型，机器人系统可以确定操作参数，例如液压和电操作参数以及电力系统参数等。 机器人系统然后可以使用所确定的操作参数来控制致动器的操作，以获得期望的关节参数，使得系统中的功率消耗最小化（即，最大化致动效率）。
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公开(公告)号：US20160023647A1
公开(公告)日：2016-01-28
申请号：US14449471
申请日：2014-08-01
Applicant: Google Inc.
Inventor： John Aaron Saunders , Alex Khripin , Steven Potter , Michael Patrick Murphy , Christopher Everett Thorne
CPC classification number: B25J9/126 , B25J3/04 , B25J9/144 , B25J9/1602 , B60W10/04 , B60W10/08 , B62D57/02 , B62D57/032 , F15B9/09 , F15B15/088 , F15B18/00 , F15B2211/7135 , F15B2211/78 , Y10S901/01 , Y10S901/22 , Y10S901/23
Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).
Abstract translation: 示例性实施例可以涉及包括液压致动器和耦合到机器人系统的接头的电动致动器的机器人系统。 致动器的操作可以基于诸如基于期望的关节参数的各种因素。 例如，这种所需的关节参数可以包括所需的输出扭矩/关节力，关节的期望输出速度，关节的期望加速度和/或期望的关节角度以及其它可能性。 给定功率模型以及致动器的模型，机器人系统可以确定操作参数，例如液压和电操作参数以及电力系统参数等。 机器人系统然后可以使用所确定的操作参数来控制致动器的操作，以获得期望的关节参数，使得系统中的功率消耗最小化（即，最大化致动效率）。
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Patent Agency Ranking
公开(公告)号：US20160052136A1
公开(公告)日：2016-02-25
申请号：US14659012
申请日：2015-03-16
Applicant: Google Inc.
Inventor： Alex Khripin , Alfred Anthony Rizzi
IPC: B25J9/16 , B62D57/032
CPC classification number: B25J9/1694 , B25J9/1664 , B62D57/032 , G05B2219/39082 , G05B2219/39215 , G05B2219/39325 , G05D2201/0217 , Y10S901/01 , Y10S901/09 , Y10S901/46
Abstract: A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.
Abstract translation: 控制系统可以接收指示对应于连接到机器人的多个传感器的各个关节角度的第一多个测量值。 机器人可以包括主体和连接到与主体相关联的主体的多个连接的四肢。 控制系统还可以接收指示机器人的身体的取向的身体取向测量。 控制系统可以基于与机器人的连接肢体相关联的属性来进一步确定第一多个测量与身体取向测量之间的关系。 另外，控制系统可以基于第一多个测量，身体取向测量和所确定的关系来估计机器人的聚集取向。 此外，控制系统可以基于估计的机器人的总体取向来提供控制机器人的至少一个接合肢体的指令。
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公开(公告)号：US09937618B2
公开(公告)日：2018-04-10
申请号：US15016729
申请日：2016-02-05
Applicant: Google Inc.
Inventor： John Aaron Saunders , Alex Khripin , Steven Potter , Michael Patrick Murphy , Christopher Everett Thorne
IPC: B25J9/00 , B25J9/12 , B25J3/04 , B25J9/14 , B60W10/04 , B60W10/08 , B62D57/02 , F15B15/08 , B62D57/032 , F15B9/09 , F15B18/00
CPC classification number: B25J9/126 , B25J3/04 , B25J9/144 , B25J9/1602 , B60W10/04 , B60W10/08 , B62D57/02 , B62D57/032 , F15B9/09 , F15B15/088 , F15B18/00 , F15B2211/7135 , F15B2211/78 , Y10S901/01 , Y10S901/22 , Y10S901/23
Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).
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公开(公告)号：US09879700B1
公开(公告)日：2018-01-30
申请号：US14510416
申请日：2014-10-09
Applicant: Google Inc.
Inventor： Zachary John Jackowski , Stephen Berard , Alex Khripin , Alfred Anthony Rizzi
CPC classification number: F15B1/04 , F15B1/033 , F15B21/001 , F15B2201/51 , F15B2201/515 , Y10S901/22
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.
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公开(公告)号：US20160052574A1
公开(公告)日：2016-02-25
申请号：US14586519
申请日：2014-12-30
Applicant: Google Inc.
Inventor： Alex Khripin , Alfred Anthony Rizzi
IPC: B62D57/032
CPC classification number: B25J9/1694 , B25J9/1664 , B62D57/032 , G05B2219/39082 , G05B2219/39215 , G05B2219/39325 , G05D2201/0217 , Y10S901/01 , Y10S901/09 , Y10S901/46
Abstract: A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.
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公开(公告)号：US09517561B2
公开(公告)日：2016-12-13
申请号：US14586519
申请日：2014-12-30
Applicant: Google Inc.
Inventor： Alex Khripin , Alfred Anthony Rizzi
IPC: G06F19/00 , B25J9/16 , B62D57/032
CPC classification number: B25J9/1694 , B25J9/1664 , B62D57/032 , G05B2219/39082 , G05B2219/39215 , G05B2219/39325 , G05D2201/0217 , Y10S901/01 , Y10S901/09 , Y10S901/46
Abstract: A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.
Abstract translation: 控制系统可以接收指示对应于连接到机器人的多个传感器的各个关节角度的第一多个测量值。 机器人可以包括主体和连接到与主体相关联的主体的多个连接的四肢。 控制系统还可以接收指示机器人的身体的取向的身体取向测量。 控制系统可以基于与机器人的连接肢体相关联的属性来进一步确定第一多个测量与身体取向测量之间的关系。 另外，控制系统可以基于第一多个测量，身体取向测量和所确定的关系来估计机器人的聚集取向。 此外，控制系统可以基于估计的机器人的总体取向来提供控制机器人的至少一个接合肢体的指令。
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