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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
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.
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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
Applicant: Google Inc.
Inventor： Alfred Anthony Rizzi , Kevin Blankespoor , Matthew David Malchano , Mathew Livianu
IPC: B25J13/08 , B25J19/02 , B62D57/032 , G06N3/00
CPC classification number: B25J13/08 , B25J19/02 , G06N3/008 , Y10S901/01 , Y10S901/09
Abstract: 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
Applicant: Google Inc.
Inventor： Kevin Blankespoor , Alexander Douglas Perkins , Marco da Silva , Shervin Talebinejad
IPC: B25J9/16 , B62D57/032
CPC classification number: B25J9/1633 , B62D57/032 , Y10S901/01
Abstract: 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
Applicant: Google Inc.
Inventor： Kevin Blankespoor , Benjamin Stephens , Marco da Silva
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.
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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
Applicant: Google Inc.
Inventor： Kevin Blankespoor
CPC classification number: B25J9/1666 , B25J9/1676 , B62D57/00 , G05B2219/39096 , Y10S901/01 , Y10S901/02 , Y10S901/28
Abstract: 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.
Abstract translation: 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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Patent Agency Ranking
公开(公告)号：US20160025114A1
公开(公告)日：2016-01-28
申请号：US14489778
申请日：2014-09-18
Applicant: Google Inc.
Inventor： Alex Perkins , Kevin Blankespoor , Alfred Rizzi
IPC: F15B13/02
CPC classification number: 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
Abstract: 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.
Abstract translation: 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：US09969087B1
公开(公告)日：2018-05-15
申请号：US15232439
申请日：2016-08-09
Applicant: Google Inc.
Inventor： Kevin Blankespoor
CPC classification number: B25J9/1666 , B25J9/1676 , B62D57/00 , G05B2219/39096 , Y10S901/01 , Y10S901/02 , Y10S901/28
Abstract: 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.
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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。
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公开(公告)号：US09259838B1
公开(公告)日：2016-02-16
申请号：US14339860
申请日：2014-07-24
Applicant: Google Inc.
Inventor： Kevin Blankespoor , Gabriel Nelson , Neil Neville
CPC classification number: G05D1/0088 , B25J9/0006 , B25J9/1615 , B25J9/1694 , B25J9/1697 , B62D57/032 , G05D1/0891 , Y10S901/01
Abstract: Example systems and methods for estimating a ground plane are provided. An example method may include determining an orientation of a body of a robotic device with respect to a gravity aligned reference frame. The method may also include determining the location of one or more contact points between the robotic device and a ground surface. The method may also include determining a ground plane estimation of the ground surface based on the determined orientation of the robotic device with respect to the gravity aligned reference frame and the determined locations of the one or more contact points. The method may also include determining a distance between the body of the robotic device and the determined ground plane estimation. The method may also include providing instructions to adjust a position and/or orientation of the robotic device based on the determined distance and the determined ground plane estimation.
Abstract translation: 提供了用于估计接地平面的示例系统和方法。 示例性方法可以包括相对于重力对准的参考系来确定机器人装置的主体的取向。 该方法还可以包括确定机器人装置和地面之间的一个或多个接触点的位置。 该方法还可以包括基于所确定的机器人装置相对于重力对准的参考系的方位和所确定的一个或多个接触点的位置来确定地面的接地面估计。 该方法还可以包括确定机器人装置的主体与所确定的接地平面估计之间的距离。 该方法还可以包括提供基于所确定的距离和所确定的接地平面估计来调整机器人装置的位置和/或取向的指令。
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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
Applicant: Google Inc.
Inventor： Alexander Douglas Perkins , Kevin Blankespoor
IPC: G06F19/00 , B25J9/16 , B62D57/032 , B25J9/14 , B25J17/00
CPC classification number: B25J9/1674 , B25J9/144 , B25J9/1664 , B25J9/1694 , B25J13/085 , B62D57/032 , Y10S901/01
Abstract: 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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