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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
申请人： Google Inc.
IPC分类号： F15B11/18 , B25J9/14 , G05D1/02 , B62D57/032 , F15B11/16
CPC分类号： 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
摘要： 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：US09638216B1
公开(公告)日：2017-05-02
申请号：US14447796
申请日：2014-07-31
申请人： Google Inc.
CPC分类号： 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
摘要： 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：US20160023699A1
公开(公告)日：2016-01-28
申请号：US14339267
申请日：2014-07-23
申请人： Google Inc.
IPC分类号： B62D57/032 , B25J18/00 , F15B21/00 , G05D1/02
CPC分类号： 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
摘要： 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.
摘要翻译： 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：US09849926B2
公开(公告)日：2017-12-26
申请号：US14339267
申请日：2014-07-23
申请人： Google Inc.
CPC分类号： 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
摘要： 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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