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

IPC: G01C22/00 ,  G05D1/00 ,  B25J9/00 ,  B25J9/16

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。

公开(公告)号：US09804600B1

公开(公告)日：2017-10-31

申请号：US14988913

申请日：2016-01-06

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Gabriel Nelson ,  Neil Neville

IPC: G05D1/00 ,  B25J9/16

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.