公开(公告)号：US09868210B1

公开(公告)日：2018-01-16

申请号：US14984177

申请日：2015-12-30

Applicant: Google Inc.

Inventor： Eric Whitman

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B62D57/032 ,  Y10S901/01 ,  Y10S901/47

Abstract: Example methods and systems for planning a body position for a robotic device are described. An example method includes receiving a reference step path that defines predetermined step locations for end components of a robotic device. The method also includes receiving a set of constraints, receiving a predetermined height and pitch, and assigning a cost to each of a height of the body, a height acceleration of the body, and a pitch acceleration of the body. The method also includes determining a new height and a new pitch of the body that reduces the height acceleration and the pitch acceleration of the body when the end component moves along the reference step path. Further, the method includes instructing the robotic device to actuate the plurality of appendages to achieve the new height and the new pitch of the body when the end component moves along the reference step path.

公开(公告)号：US09789607B1

公开(公告)日：2017-10-17

申请号：US14931458

申请日：2015-11-03

Applicant: Google Inc.

Inventor： Eric Whitman

IPC: G05B19/18 ,  B25J9/16 ,  B25J5/00 ,  B25J13/00

CPC classification number: B25J9/1664 ,  B25J5/00 ,  B25J9/1628 ,  B25J9/1666 ,  B25J13/006 ,  Y10S901/01

Abstract: Based on input steering commands, a legged robot may select a target gait. Based on the target gait, the legged robot may obtain a list of gait controllers. Each gait controller may define a gait of the legged robot, and include validity tests and steering commands. The legged robot may apply a cost function to the gait controllers, where the cost for a gait controller is based on a difference between the steering commands of the gait controller and the input steering commands, and a proximity of the legged robot to obstacles should the legged robot operate according the gait controller. The legged robot may reorder the list in increasing magnitude of the cost function, and traverse the list until a validity test associated with a particular gait controller passes. The legged robot may actuate its legs according to the steering commands of the particular gait controller.

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.