公开(公告)号：US09987745B1

公开(公告)日：2018-06-05

申请号：US15089355

申请日：2016-04-01

Applicant: Google Inc.

Inventor： Stephen Berard ,  Benjamin Swilling ,  Matthew Malchano

IPC: G06F19/00 ,  G05B19/18 ,  B25J9/16

CPC classification number: B25J9/163 ,  Y10S901/09

Abstract: The present disclosure relates to methods and systems for robust robotic task execution. An example method includes obtaining a task-level goal for a robot associated with one or more sub-goals, where accomplishment of the one or more sub-goals accomplishes the task-level goal. Carrying out an operation in pursuance of a given sub-goal may involve controlling at least one actuator of the robot. The method also includes determining one or more parameters indicative of a state of a system that includes the robot and an environment proximate to the robot. The method further includes selecting a particular sub-goal based on at least one of the one or more parameters. Additionally, the method includes selecting at least one controller based on at least one of the one or more parameters and the selected sub-goal. Further, the method includes causing the robot to operate in accordance with the at least one selected controller.

公开(公告)号：US09969082B1

公开(公告)日：2018-05-15

申请号：US14988390

申请日：2016-01-05

Applicant: Google Inc.

Inventor： Stephen Berard ,  Benjamin Swilling ,  Matthew Malchano

IPC: G05B19/04 ,  B25J9/16 ,  B62D57/032

CPC classification number: B25J9/163 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/27 ,  Y10S901/30

Abstract: The present disclosure relates to methods and systems for improving robotic task selection and execution. An example method includes determining an external environment state based on receiving information indicative of at least one aspect of an environment proximate to a robotic system having at least one actuator. The method also includes optionally determining a goal to be accomplished by a robotic system and determining a plurality of possible tasks each including at least one task involving the at least one actuator that may be carried out by the robotic system in pursuance of the goal. For each possible task group, the method includes determining a respective task group score based on an expected performance capability. The expected performance capability is based, at least in part, on the external environment state. The method includes selecting a task group based on the respective task group scores.

公开(公告)号：US10081104B1

公开(公告)日：2018-09-25

申请号：US15412304

申请日：2017-01-23

Applicant: Google Inc.

Inventor： Benjamin Swilling

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  B62D57/032

CPC classification number: B25J9/1664 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/46

Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.

公开(公告)号：US10017218B1

公开(公告)日：2018-07-10

申请号：US15194493

申请日：2016-06-27

Applicant: Google Inc.

Inventor： Benjamin Swilling ,  Eric Whitman ,  Stephen Berard ,  Alfred Anthony Rizzi ,  Alex Yu Khripin ,  Gina Christine Fay

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

CPC classification number: B62D57/032 ,  B25J9/0006 ,  B25J9/162 ,  B25J9/1664 ,  Y10S901/01

Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.

公开(公告)号：US09925667B1

公开(公告)日：2018-03-27

申请号：US15005687

申请日：2016-01-25

Applicant: Google Inc.

Inventor： Stephen Berard ,  Alex Yu Khripin ,  Benjamin Swilling

IPC: B25J9/16 ,  B62D57/032 ,  B25J13/08 ,  B25J19/00

CPC classification number: B25J9/1641 ,  B25J9/1628 ,  B25J9/1633 ,  B25J13/085 ,  B25J19/0008 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/27 ,  Y10S901/28 ,  Y10S901/30

Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.

公开(公告)号：US09586316B1

公开(公告)日：2017-03-07

申请号：US14855045

申请日：2015-09-15

Applicant: Google Inc.

Inventor： Benjamin Swilling

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  B62D57/032

CPC classification number: B25J9/1664 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/46

Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.

Abstract translation: 用于确定步进路径的方法包括获得具有至少三英尺的机器人的参考步骤路径。 参考步骤路径包括在表面上定义用于至少三个脚的相应目标触地位置的一组空间点。 该方法还涉及接收机器人的状态。 该方法还涉及基于参考步骤路径生成参考捕捉点轨迹。 另外，该方法包括获得至少两个潜在的步进路径和相应的捕获点轨迹。 此外，该方法包括基于至少两个潜在步进路径，潜在捕获点轨迹，参考步进路径和参考捕获点轨迹之间的关系来选择至少两个潜在步骤路径的特定步进路径。 该方法还包括指示机器人根据特定步骤路径开始步进。