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    Robotic hydraulic system
    2.
    发明授权
    Robotic hydraulic system 有权

    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

    IPC: F15B1/04 ,  F15B21/00 ,  F15B1/033

    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.

    Offline determination of robot behavior
    3.
    发明授权
    Offline determination of robot behavior 有权
    离线确定机器人行为

    公开(公告)号：US09440353B1

    公开(公告)日：2016-09-13

    申请号：US14584558

    申请日：2014-12-29

    Applicant: Google Inc.

    Inventor： Marco da Silva ,  Benjamin Stephens ,  Alfred Anthony Rizzi ,  Yeuhi Abe

    IPC: B25J9/16 ,  B62D57/032

    CPC classification number: B25J9/1605 ,  B25J9/162 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/28

    Abstract: A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a predetermined goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.

    Abstract translation: 计算系统可以提供机器人的模型。 该模型可以被配置为基于控制参数的集合来确定机器人的模拟运动。 计算系统还可以利用多组控制参数操作模型来模拟机器人的相应运动。 计算系统还可以确定机器人的每个相应模拟运动的相应分数，其中相应的分数基于与机器人的每个肢体相关联的约束和预定目标。 约束包括机器人肢体的执行器约束和关节限制。 另外，计算系统可以基于相应的分数来选择与特定分数相关联的一组控制参数。 此外，计算系统可以基于所选择的一组控制参数来修改机器人的行为，以通过机器人的致动器执行协调的力的施加。

    Natural Pitch and Roll
    4.
    发明申请
    Natural Pitch and Roll 有权

    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.

    Natural pitch and roll
    5.
    发明授权
    Natural pitch and roll 有权
    自然俯仰和滚动

    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。

    Natural Pitch and Roll
    6.
    发明申请
    Natural Pitch and Roll 审中-公开

    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.

    Natural pitch and roll
    7.
    发明授权
    Natural pitch and roll 有权

    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.

    Methods and devices for bound and gallop gaits
    9.
    发明授权
    Methods and devices for bound and gallop gaits 有权
    绑定和驰骋步态的方法和装置

    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

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

    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。

    Methods and devices for automatic gait transition
    10.
    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.

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