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公开(公告)号：US09927037B2
公开(公告)日：2018-03-27
申请号：US15232050
申请日：2016-08-09
Applicant: Google Inc.
Inventor： John Aaron Saunders , Steven D. Potter
IPC: F16K31/04 , F16K11/076 , F15B13/04 , F16K11/085 , F16K11/06 , F15B13/044
CPC classification number: F16K11/0856 , F15B13/0406 , F15B13/0444 , F15B2211/3127 , F16K11/06 , F16K31/042 , Y10T137/86646 , Y10T137/86654 , Y10T137/86662
Abstract: An example valve includes a sleeve having a plurality of openings configured along a length of the sleeve. A spool is rotatable within the sleeve and includes a respective plurality of openings along a length of the spool corresponding to the plurality of openings of the sleeve. A rotary actuator coupled to the spool is configured for rotating the spool within the sleeve. The rotary actuator can rotate the spool to a given rotary position in a clockwise or a counter-clockwise direction to cause at least a partial alignment between a subset of the respective plurality of openings of the spool and a subset of the plurality of openings of the sleeve.
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公开(公告)号：US09751211B1
公开(公告)日：2017-09-05
申请号：US14878175
申请日：2015-10-08
Applicant: Google Inc.
Inventor： John Aaron Saunders , Michael Patrick Murphy
IPC: B25J9/16
CPC classification number: B25J9/1602 , B25J9/1694 , G05B2219/33105 , G05B2219/40304 , Y10S901/46 , Y10S901/50
Abstract: Example implementations may relate a robot part including a processor, at least one sensor, and an interface providing wireless connectivity. The processor may determine that the robot part is removablly connected to a particular robotic system and may responsively obtain identification information to identify the particular robotic system. While the robot part is removablly connected to the particular robotic system, the processor may (i) transmit, to an external computing system, sensor data that the processor received from the at least one sensor and (ii) receive, from the external computing system, environment information (e.g., representing characteristics of an environment in which the particular robotic system is operating) based on interpretation of the sensor data. And based on the identification information and the environment information, the processor may generate a command that causes the particular robotic system to carry out a task in the environment.
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公开(公告)号：US20170219106A1
公开(公告)日：2017-08-03
申请号：US15493453
申请日：2017-04-21
Applicant: Google Inc.
Inventor： John Aaron Saunders , Malik Hansen , Jan Komsta
IPC: F16K11/085 , F15B13/04 , F15B13/02 , B25J9/14 , F16K37/00
CPC classification number: F16K11/0856 , A63H11/00 , B25J9/14 , B25J9/144 , F15B13/021 , F15B13/0406 , F15B13/044 , F15B2013/0409 , F15B2211/6336 , F16K31/00 , F16K31/041 , F16K37/0041 , F16K37/005 , G05D1/021 , Y10S901/01
Abstract: An example valve includes: a sleeve having a plurality of sleeve openings; a first conduit configured to be in hydraulic communication with a first chamber, where a first pressure sensor is disposed in the first conduit and configured to measure a pressure level of fluid in the first chamber; a second conduit configured to be in hydraulic communication with a second chamber, where a second pressure sensor is disposed in the second conduit and configured to measure a pressure level of fluid in the second chamber; a spool rotatable within the sleeve, wherein the spool includes a plurality of spool openings respectively corresponding to the plurality of sleeve openings; a rotary actuator coupled to the spool and configured to rotate the spool within the sleeve in clockwise and counter-clockwise directions; and a controller configured to cause the spool to rotate to one of a plurality of rotary positions.
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公开(公告)号：US20170191505A1
公开(公告)日：2017-07-06
申请号：US15465415
申请日：2017-03-21
Applicant: Google Inc.
Inventor： Michael Murphy , John Aaron Saunders , Steven D. Potter
IPC: F15B11/18 , B25J9/14 , G05D1/02 , B62D57/032 , F15B11/16
CPC classification number: F15B11/18 , B25J9/14 , B25J9/20 , B60Y2400/406 , F15B11/161 , F15B11/162 , F15B11/17 , F15B2211/20592 , F15B2211/212 , F15B2211/30585 , F15B2211/40515 , F15B2211/41527 , F15B2211/41545 , F15B2211/455 , F15B2211/50 , F15B2211/605 , F15B2211/6306 , F15B2211/6313 , F15B2211/6336 , F15B2211/665 , F15B2211/6653 , F15B2211/6654 , F15B2211/7051 , F15B2211/71 , F15B2211/7107 , F15B2211/76 , F15B2211/765 , F15B2211/78 , G05D1/021 , G05D16/2013
Abstract: An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.
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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.
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Patent Agency Ranking
公开(公告)号：US20160151911A1
公开(公告)日：2016-06-02
申请号：US15016729
申请日：2016-02-05
Applicant: Google Inc.
Inventor： John Aaron Saunders , Alex Khripin , Steven Potter , Michael Patrick Murphy , Christopher Everett Thorne
CPC classification number: B25J9/126 , B25J3/04 , B25J9/144 , B25J9/1602 , B60W10/04 , B60W10/08 , B62D57/02 , B62D57/032 , F15B9/09 , F15B15/088 , F15B18/00 , F15B2211/7135 , F15B2211/78 , Y10S901/01 , Y10S901/22 , Y10S901/23
Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).
Abstract translation: 示例性实施例可以涉及包括液压致动器和耦合到机器人系统的接头的电动致动器的机器人系统。 致动器的操作可以基于诸如基于期望的关节参数的各种因素。 例如，这种所需的关节参数可以包括所需的输出扭矩/关节力，关节的期望输出速度，关节的期望加速度和/或期望的关节角度以及其它可能性。 给定功率模型以及致动器的模型，机器人系统可以确定操作参数，例如液压和电操作参数以及电力系统参数等。 机器人系统然后可以使用所确定的操作参数来控制致动器的操作，以获得期望的关节参数，使得系统中的功率消耗最小化（即，最大化致动效率）。
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公开(公告)号：US20160023699A1
公开(公告)日：2016-01-28
申请号：US14339267
申请日：2014-07-23
Applicant: Google Inc.
Inventor： John Aaron Saunders , Michael Murphy , Steven D. Potter
IPC: B62D57/032 , B25J18/00 , F15B21/00 , G05D1/02
CPC classification number: B62D57/032 , B25J9/1612 , B25J18/00 , F15B13/0406 , F15B21/001 , F15B2211/20523 , F15B2211/20538 , F15B2211/20576 , F15B2211/25 , F15B2211/265 , F15B2211/5151 , F15B2211/5152 , F15B2211/625 , F15B2211/6309 , F15B2211/6336 , F15B2211/6651 , F15B2211/6653 , G05D1/021 , G05D16/2006 , G05D16/2066 , G05D2201/0217
Abstract: A robotic device may traverse a path in a direction of locomotion. Sensor data indicative of one or more physical features of the environment in the direction of locomotion may be received. The implementation may further involve determining that traversing the path involves traversing the one or more physical features of the environment. Based on the sensor data indicative of the one or more physical features of the environment in the direction of locomotion, a hydraulic pressure to supply to the one or more hydraulic actuators to traverse the one or more physical features of the environment may be predicted. Before traversing the one or more physical features of the environment, the hydraulic drive system may adjust pressure of supplied hydraulic fluid from the first pressure to the predicted hydraulic pressure.
Abstract translation: 机器人装置可以沿着运动方向穿过路径。 可以接收指示在运动方向上的环境的一个或多个物理特征的传感器数据。 实现可以进一步包括确定遍历路径涉及遍历环境的一个或多个物理特征。 基于指示运动方向上的环境的一个或多个物理特征的传感器数据，可以预测供给一个或多个液压致动器以横越环境的一个或多个物理特征的液压。 在运行环境的一个或多个物理特征之前，液压驱动系统可以将供应的液压流体的压力从第一压力调节到预测的液压压力。
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公开(公告)号：US20160023647A1
公开(公告)日：2016-01-28
申请号：US14449471
申请日：2014-08-01
Applicant: Google Inc.
Inventor： John Aaron Saunders , Alex Khripin , Steven Potter , Michael Patrick Murphy , Christopher Everett Thorne
CPC classification number: B25J9/126 , B25J3/04 , B25J9/144 , B25J9/1602 , B60W10/04 , B60W10/08 , B62D57/02 , B62D57/032 , F15B9/09 , F15B15/088 , F15B18/00 , F15B2211/7135 , F15B2211/78 , Y10S901/01 , Y10S901/22 , Y10S901/23
Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).
Abstract translation: 示例性实施例可以涉及包括液压致动器和耦合到机器人系统的接头的电动致动器的机器人系统。 致动器的操作可以基于诸如基于期望的关节参数的各种因素。 例如，这种所需的关节参数可以包括所需的输出扭矩/关节力，关节的期望输出速度，关节的期望加速度和/或期望的关节角度以及其它可能性。 给定功率模型以及致动器的模型，机器人系统可以确定操作参数，例如液压和电操作参数以及电力系统参数等。 机器人系统然后可以使用所确定的操作参数来控制致动器的操作，以获得期望的关节参数，使得系统中的功率消耗最小化（即，最大化致动效率）。
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公开(公告)号：US09982790B1
公开(公告)日：2018-05-29
申请号：US14587822
申请日：2014-12-31
Applicant: Google Inc.
Inventor： John Aaron Saunders , Steve Potter , Haink Tu , Zachary Jackowski , Alex Khripin
IPC: F16K11/085 , F16K11/083 , F16K31/04
CPC classification number: F16K11/0856 , F16K11/083 , F16K11/0836 , F16K11/085 , F16K31/04 , F16K31/041 , Y10T137/86654 , Y10T137/87298
Abstract: Examples are provided that describe a rotary hydraulic valve. In one example, a rotary valve comprises a sleeve with a plurality of selector ports and one or more control ports spaced along a length of the sleeve. A spool comprising an internal chamber is provided within the sleeve. The spool includes a plurality of selector openings and one or more control openings spaced along a length of the spool. The rotary valve also comprises a controller for determining a given rotational movement of the spool based on a selection of a pressurized fluid. The rotary valve also comprises a motor coupled to the spool and for rotating the spool within the sleeve based on the given rotational movement. The motor is configured to cause a given alignment of the spool to the sleeve resulting in a pathway through the internal chamber of the spool and out to the sleeve.
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公开(公告)号：US09849926B2
公开(公告)日：2017-12-26
申请号：US14339267
申请日：2014-07-23
Applicant: Google Inc.
Inventor： John Aaron Saunders , Michael Murphy , Steven D. Potter
CPC classification number: B62D57/032 , B25J9/1612 , B25J18/00 , F15B13/0406 , F15B21/001 , F15B2211/20523 , F15B2211/20538 , F15B2211/20576 , F15B2211/25 , F15B2211/265 , F15B2211/5151 , F15B2211/5152 , F15B2211/625 , F15B2211/6309 , F15B2211/6336 , F15B2211/6651 , F15B2211/6653 , G05D1/021 , G05D16/2006 , G05D16/2066 , G05D2201/0217
Abstract: A robotic device may traverse a path in a direction of locomotion. Sensor data indicative of one or more physical features of the environment in the direction of locomotion may be received. The implementation may further involve determining that traversing the path involves traversing the one or more physical features of the environment. Based on the sensor data indicative of the one or more physical features of the environment in the direction of locomotion, a hydraulic pressure to supply to the one or more hydraulic actuators to traverse the one or more physical features of the environment may be predicted. Before traversing the one or more physical features of the environment, the hydraulic drive system may adjust pressure of supplied hydraulic fluid from the first pressure to the predicted hydraulic pressure.
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