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.

发明人： Kevin Blankespoor ,  Benjamin Stephens ,  Nicolas Hudson ,  Yeuhi Abe ,  Jennifer Barry

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.