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公开(公告)号：US20180162469A1
公开(公告)日：2018-06-14
申请号：US15377559
申请日：2016-12-13
申请人： Google Inc.
IPC分类号： B62D57/032 , B25J9/16
CPC分类号： B62D57/032 , B25J9/162 , B25J9/1633 , B25J9/1694 , B62D57/02 , B62D57/024 , G05B2219/40298 , G05D2201/0217 , Y10S901/01
摘要： 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.
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公开(公告)号：US09931753B1
公开(公告)日：2018-04-03
申请号：US14807018
申请日：2015-07-23
申请人： Google Inc.
IPC分类号： B25J13/08 , B25J19/02 , B62D57/032 , G06N3/00
CPC分类号： B25J13/08 , B25J19/02 , G06N3/008 , Y10S901/01 , Y10S901/09
摘要： 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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公开(公告)号：US09833899B1
公开(公告)日：2017-12-05
申请号：US14676899
申请日：2015-04-02
申请人： Google Inc.
IPC分类号： B25J9/16 , B62D57/032
CPC分类号： B25J9/1633 , B62D57/032 , Y10S901/01
摘要： An example implementation includes determining a force allocation for at least one foot of a legged robotic device, where the legged robotic device includes two feet coupled to two legs extending from a body of the legged robotic device. The implementation also includes determining a change in mass distribution of the legged robotic device, and based on the determined change in mass distribution, determining a force and a torque on the body of the legged robotic device with respect to a ground surface. The implementation also includes updating the determined force allocation for the at least one foot of the two feet based on the determined force and torque. The implementation also includes causing the at least one foot to act on the ground surface based on the updated force allocation.
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公开(公告)号：US09789611B1
公开(公告)日：2017-10-17
申请号：US15190127
申请日：2016-06-22
申请人： Google Inc.
CPC分类号： B25J9/1692 , B25J9/1628 , B62D57/032 , Y10S901/01 , Y10S901/46 , Y10S901/49
摘要： 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.
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公开(公告)号：US09446518B1
公开(公告)日：2016-09-20
申请号：US14538777
申请日：2014-11-11
申请人： Google Inc.
发明人： Kevin Blankespoor
CPC分类号： B25J9/1666 , B25J9/1676 , B62D57/00 , G05B2219/39096 , Y10S901/01 , Y10S901/02 , Y10S901/28
摘要： An example implementation for avoiding leg collisions may involve a biped robot reducing a three-dimensional system to a two-dimensional projection of the biped robot's feet. An example biped robot may determine a touchdown location for a swing foot. The biped robot may determine lateral positions of the touchdown location and the swing foot, each relative to a stance foot. Based on one or more of the determined lateral positions of the touchdown location and the swing foot, each relative to the stance foot, the biped robot may determine an intermediate swing point for the swing foot that is not on a line defined by the swing foot and the touchdown location. The biped robot may further cause the swing foot to move to the intermediate swing point, and then cause the swing foot to move to the touchdown location.
摘要翻译： 用于避免腿部碰撞的示例实施方案可以涉及将三维系统减少到两足动物机器人的脚的二维投影的两足动物机器人。 示例性双足动物机器人可以确定摇摆脚的触地位置。 双足机器人可以确定触地位置和摆脚的横向位置，每个相对于站立脚。 基于触地位置和摆脚的确定的横向位置中的一个或多个，每个位置相对于站立脚，两足动物机器人可以确定摆动脚的中间摆动点，其不在由摆动脚限定的线上 和达阵地点。 双足机器人还可以使摆动脚移动到中间摆动点，然后使摇摆脚移动到触地位置。
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公开(公告)号：US20160025114A1
公开(公告)日：2016-01-28
申请号：US14489778
申请日：2014-09-18
申请人： Google Inc.
发明人： Alex Perkins , Kevin Blankespoor , Alfred Rizzi
IPC分类号： F15B13/02
CPC分类号： F15B13/021 , F15B9/09 , F15B11/048 , F15B15/28 , F15B15/2815 , F15B21/08 , F15B2211/30575 , F15B2211/6336 , F15B2211/665 , F15B2211/6654 , F15B2211/6656 , F15B2211/6658 , F15B2211/7053 , F15B2211/755 , F15B2211/7653 , F15B2211/8606 , G05B19/00
摘要： In some applications, a piston of a hydraulic actuator may move at high speeds, and large undesired forces may be generated if the piston reaches an end-stop of the hydraulic actuator at a high speed. The undesired forces may, for example, cause mechanical damage in the hydraulic actuator. A controller may receive information indicative of the piston reaching a first position at a first threshold distance from the end-stop, and, in response, may modify a signal to a valve assembly controlling flow of hydraulic fluid to and from the hydraulic actuator. Further, the controller may receive information indicative of the piston reaching a second position at a second threshold distance closer to the end-stop of the hydraulic actuator, and, in response, the controller may further modify the signal to the valve assembly so as to apply a force on the piston in a away from the end-stop.
摘要翻译： 在一些应用中，液压致动器的活塞可以高速运动，并且如果活塞以高速到达液压致动器的终端，则可能产生大的不期望的力。 例如，不期望的力可能导致液压致动器中的机械损坏。 控制器可以接收指示活塞到达终端的第一阈值距离处的第一位置的信息，并且作为响应，可以将信号修改为控制液压流体流向和从液压致动器流出的阀组件。 此外，控制器可以接收指示活塞到达靠近液压致动器的停止的第二阈值距离处的第二位置的信息，并且作为响应，控制器可以进一步修改到阀组件的信号，以便 在活塞上远离终点站施加力。
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公开(公告)号：US09895804B1
公开(公告)日：2018-02-20
申请号：US14482415
申请日：2014-09-10
申请人： Google Inc.
IPC分类号： G06F19/00 , B25J9/16 , B62D57/032 , B25J9/14 , B25J17/00
CPC分类号： B25J9/1674 , B25J9/144 , B25J9/1664 , B25J9/1694 , B25J13/085 , B62D57/032 , Y10S901/01
摘要： A control system of a robotic device may receive sensor data indicating at least one deviation from a nominal operating parameter of the robotic device, where the robotic device includes articulable legs that include respective actuators, and where one or more strokes of the actuators cause the articulable legs to articulate. Based on the received sensor data, the control system may determine that the at least one deviation exceeds a pre-determined threshold. In response to determining that the at least one deviation exceeds the pre-determined threshold, the control system may provide instructions for centering the one or more strokes at approximately a mid-point of extension of the actuators, and reducing a stroke length of the one or more strokes of the actuators.
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公开(公告)号：US09789919B1
公开(公告)日：2017-10-17
申请号：US15077870
申请日：2016-03-22
申请人： Google Inc.
发明人： Kevin Blankespoor , Marco da Silva
IPC分类号： B62D57/02 , B25J9/16 , G01L5/00 , B62D57/032
CPC分类号： B62D57/02 , B25J9/1633 , B62D57/032 , G01L5/0028 , G05B2219/41005 , G05B2219/41006 , G05B2219/41021 , G05B2219/41025 , G05B2219/41163 , Y10S901/01
摘要： An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.
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公开(公告)号：US09594377B1
公开(公告)日：2017-03-14
申请号：US14709830
申请日：2015-05-12
申请人： Google Inc.
IPC分类号： G05D1/00 , G01C22/00 , G06F19/00 , G05D1/02 , B62D57/032
CPC分类号： G05D1/021 , B62D57/032 , G05D1/0274 , G05D2201/0217 , Y10S901/01
摘要： An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.
摘要翻译： 示例实现包括（i）接收指示机器人设备正在操作的环境的外形特征的传感器数据，（ii）将传感器数据处理成包括离散单元的二维矩阵的地形图，离散单元 指示环境的各个部分的样本高度，（iii）针对所述机器人装置的第一脚确定从第一剥离位置延伸到第一接触位置的第一步骤路径，（iv）在 所述地形图，包含所述第一步骤路径的单元的第一扫描区块，（v）确定所述第一单元格扫描区块中的第一高点; 和（vi）在第一步骤期间，引导机器人装置将第一脚提升到高于确定的第一高点的第一摆动高度。
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公开(公告)号：US20170036352A1
公开(公告)日：2017-02-09
申请号：US15296094
申请日：2016-10-18
申请人： Google Inc.
IPC分类号： B25J13/08 , B62D57/032 , B25J9/16
CPC分类号： B25J13/085 , B25J9/1694 , B25J13/081 , B62D57/032 , Y10S901/01 , Y10S901/10
摘要： Example methods and devices for touch-down detection for a robotic device are described herein. In an example embodiment, a computing system may receive a force signal due to a force experienced at a limb of a robotic device. The system may receive an output signal from a sensor of the end component of the limb. Responsive to the received signals, the system may determine whether the force signal satisfies a first threshold and determine whether the output signal satisfies a second threshold. Based on at least one of the force signal satisfying the first threshold or the output signal satisfying the second threshold, the system of the robotic device may provide a touch-down output indicating touch-down of the end component of the limb with a portion of an environment.
摘要翻译： 本文描述了用于机器人装置的用于触摸屏下降检测的示例性方法和装置。 在示例性实施例中，计算系统可以由于在机器人装置的肢体处经受的力而接收力信号。 系统可以从肢体的末端部件的传感器接收输出信号。 响应于所接收的信号，系统可以确定力信号是否满足第一阈值并且确定输出信号是否满足第二阈值。 基于满足第一阈值的力信号或满足第二阈值的输出信号中的至少一个，机器人装置的系统可以提供指示肢体的末端部分的下降的触下输出，其中一部分 一个环境。
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