公开(公告)号：US10052768B1

公开(公告)日：2018-08-21

申请号：US14980196

申请日：2015-12-28

Applicant: Google Inc.

Inventor： Michael Scott Rose ,  Zachary John Jackowski

IPC: F15B13/00 ,  F15B19/00 ,  G05D7/06 ,  G05B15/02 ,  B25J9/00 ,  B25J9/20 ,  B25J9/14

CPC classification number: B25J9/20 ,  B25J9/14 ,  F15B19/002 ,  F15B2211/3111 ,  F15B2211/327 ,  F15B2211/6309 ,  F15B2211/6313 ,  F15B2211/6336 ,  Y10S901/02 ,  Y10S901/22

Abstract: An example method includes identifying an operating state at which a velocity of a hydraulic actuator configured to operate a movable member of a robot is less than a threshold velocity and an actuator force is less than a threshold force, determining a valve command that corresponds to the operating state, such that the valve command is provided to a valve configured to control flow to and from the hydraulic actuator, and the valve includes a spool movable within a body of the valve, and the valve command causes the spool to move within the body of the valve to a position that induces the operating state, and determining a null bias signal based on the valve command.

公开(公告)号：US09395726B1

公开(公告)日：2016-07-19

申请号：US14573092

申请日：2014-12-17

Applicant: Google Inc.

Inventor： Alfred Anthony Rizzi ,  Alex Khripin ,  Michael Scott Rose ,  Gina Fay ,  Stephen Berard

IPC: G06F19/00 ,  G05D1/02 ,  B62D57/02

CPC classification number: B62D57/032 ,  Y10S901/01

Abstract: Examples for implementing bound and gallop gaits are described herein. A computing system may receive an input for a robotic device to perform a gallop gait or a bound gait. Responsive to receiving the input, the computing system may determine a state of the robotic device based on sensor data monitoring the robotic legs. A sagittal controller of the robotic device may determine vertical impulses and target locations for controlling the legs during the gallop gait based on a pitch, a height, and a velocity of the robotic device. One or more continuous controllers may determine adjustments for controlling the legs based on a roll, a yaw, and/or lateral motions of the robotic device that may result from the robotic device traveling at the velocity and direction as specified in the input. Further, to perform the gait, the controllers may provide instructions to control the legs.

Abstract translation: 本文描述了实施绑定和驰骋步态的实例。 计算系统可以接收用于机器人装置的输入以执行驰骋步态或束缚步态。 响应于接收输入，计算系统可以基于监测机器人腿的传感器数据来确定机器人设备的状态。 机器人装置的矢状控制器可以基于机器人装置的俯仰，高度和速度确定在驰骋步态期间控制腿的垂直脉冲和目标位置。 一个或多个连续控制器可以基于机器人装置的滚动，偏航和/或侧向运动来确定用于控制腿部的调节，该机器人装置可能由机器人装置在输入中指定的速度和方向上行进。 此外，为了执行步态，控制器可以提供控制腿的指令。