公开(公告)号：US20180162469A1

公开(公告)日：2018-06-14

申请号：US15377559

申请日：2016-12-13

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Nicolas Hudson ,  Yeuhi Abe ,  Jennifer Barry

IPC: B62D57/032 ,  B25J9/16

CPC classification number: B62D57/032 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1694 ,  B62D57/02 ,  B62D57/024 ,  G05B2219/40298 ,  G05D2201/0217 ,  Y10S901/01

Abstract: A robot system includes: an upper body section including one or more end-effectors; a lower body section including one or more legs; and an intermediate body section coupling the upper and lower body sections. An upper body control system operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates the one or more legs. The one or more legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The lower body control system operates the one or more legs so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.

公开(公告)号：US09789611B1

公开(公告)日：2017-10-17

申请号：US15190127

申请日：2016-06-22

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Marco da Silva

IPC: G05B19/00 ,  B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1628 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/49

Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.

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。

公开(公告)号：US09499218B1

公开(公告)日：2016-11-22

申请号：US14585542

申请日：2014-12-30

Applicant: Google Inc.

Inventor： Benjamin Stephens

IPC: B62D57/032

CPC classification number: B62D57/032 ,  G05D1/0891 ,  G05D2201/0217 ,  G06N3/00

Abstract: An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, cause the second foot to contact the ground surface.

Abstract translation: 用于确定机械定时的脚步声的示例实施方式可以涉及具有与地面接触的第一脚和不与地面接触的第二脚的机器人。 机器人可以确定其质心和质心速度的位置，并且基于这些，确定机器人的捕获点。 机器人还可以确定捕获点的阈值位置，其中阈值位置基于第二脚接触地面之后的捕获点的目标轨迹。 机器人可以确定捕获点已经达到该阈值位置，并且基于该确定，使得第二脚接触地面。

公开(公告)号：US09387588B1

公开(公告)日：2016-07-12

申请号：US14468118

申请日：2014-08-25

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Marco da Silva

IPC: B62D57/032 ,  B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1628 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/49

Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.

Abstract translation: 示例性方法可以包括：i）检测对步态的机器人的步态的障碍，其中步态包括摆动状态和降档状态，摆动状态包括机器人的脚的目标摆动轨迹，以及目标摆动 轨迹包括一个开始和结束; 以及ii）基于检测到的干扰，使得在脚到达目标摆动轨迹的末端之前使机器人的脚进入降档状态。