公开(公告)号：US09833899B1

公开(公告)日：2017-12-05

申请号：US14676899

申请日：2015-04-02

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Alexander Douglas Perkins ,  Marco da Silva ,  Shervin Talebinejad

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B25J9/1633 ,  B62D57/032 ,  Y10S901/01

Abstract: An example implementation includes determining a force allocation for at least one foot of a legged robotic device, where the legged robotic device includes two feet coupled to two legs extending from a body of the legged robotic device. The implementation also includes determining a change in mass distribution of the legged robotic device, and based on the determined change in mass distribution, determining a force and a torque on the body of the legged robotic device with respect to a ground surface. The implementation also includes updating the determined force allocation for the at least one foot of the two feet based on the determined force and torque. The implementation also includes causing the at least one foot to act on the ground surface based on the updated force allocation.

公开(公告)号：US09662791B1

公开(公告)日：2017-05-30

申请号：US15010500

申请日：2016-01-29

Applicant: Google Inc.

Inventor： Alexander Douglas Perkins ,  Matthew Malchano ,  Shervin Talebinejad

IPC: G06F19/00 ,  B25J9/16

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

Abstract: 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.

公开(公告)号：US09308648B2

公开(公告)日：2016-04-12

申请号：US14339841

申请日：2014-07-24

Applicant: Google Inc.

Inventor： Alexander Douglas Perkins ,  Matthew Malchano ,  Shervin Talebinejad

IPC: G06F19/00 ,  B25J9/16 ,  B25J5/00 ,  B25J19/00

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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US09878751B1

公开(公告)日：2018-01-30

申请号：US14878007

申请日：2015-10-08

Applicant: Google Inc.

Inventor： Christopher Everett Thorne ,  John Aaron Saunders ,  Marco da Silva ,  Thomas H. Miller ,  Alexander Douglas Perkins

IPC: B62D57/032 ,  B25J9/16

CPC classification number: B62D57/032 ,  B25J9/162 ,  B25J9/1633 ,  Y10S901/01 ,  Y10S901/28

Abstract: An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.

公开(公告)号：US09895804B1

公开(公告)日：2018-02-20

申请号：US14482415

申请日：2014-09-10

Applicant: Google Inc.

Inventor： Alexander Douglas Perkins ,  Kevin Blankespoor

IPC: G06F19/00 ,  B25J9/16 ,  B62D57/032 ,  B25J9/14 ,  B25J17/00

CPC classification number: B25J9/1674 ,  B25J9/144 ,  B25J9/1664 ,  B25J9/1694 ,  B25J13/085 ,  B62D57/032 ,  Y10S901/01

Abstract: A control system of a robotic device may receive sensor data indicating at least one deviation from a nominal operating parameter of the robotic device, where the robotic device includes articulable legs that include respective actuators, and where one or more strokes of the actuators cause the articulable legs to articulate. Based on the received sensor data, the control system may determine that the at least one deviation exceeds a pre-determined threshold. In response to determining that the at least one deviation exceeds the pre-determined threshold, the control system may provide instructions for centering the one or more strokes at approximately a mid-point of extension of the actuators, and reducing a stroke length of the one or more strokes of the actuators.

公开(公告)号：US09594377B1

公开(公告)日：2017-03-14

申请号：US14709830

申请日：2015-05-12

Applicant: Google Inc.

Inventor： Alexander Douglas Perkins ,  Kevin Blankespoor

IPC: G05D1/00 ,  G01C22/00 ,  G06F19/00 ,  G05D1/02 ,  B62D57/032

CPC classification number: G05D1/021 ,  B62D57/032 ,  G05D1/0274 ,  G05D2201/0217 ,  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) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.

Abstract translation: 示例实现包括（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）将传感器数据处理成包括离散单元的二维矩阵的地形图，离散单元 指示环境的各个部分的样本高度，（iii）针对所述机器人装置的第一脚确定从第一剥离位置延伸到第一接触位置的第一步骤路径，（iv）在 所述地形图，包含所述第一步骤路径的单元的第一扫描区块，（v）确定所述第一单元格扫描区块中的第一高点; 和（vi）在第一步骤期间，引导机器人装置将第一脚提升到高于确定的第一高点的第一摆动高度。

公开(公告)号：US20160023354A1

公开(公告)日：2016-01-28

申请号：US14339841

申请日：2014-07-24

Applicant: Google Inc.

Inventor： Alexander Douglas Perkins ,  Matthew Malchano ,  Shervin Talebinejad

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

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

Abstract: 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.

Abstract translation: 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。