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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：US09662791B1
公开(公告)日：2017-05-30
申请号：US15010500
申请日：2016-01-29
Applicant: Google Inc.
Inventor： Alexander Douglas Perkins , Matthew Malchano , Shervin Talebinejad
CPC classification number: B25J9/1682 , B25J5/00 , B25J9/162 , B25J9/1674 , B25J19/002 , B62D57/032 , Y10S901/01
Abstract: Example systems and methods for self-righting a robotic device are provided. An example method may include determining an orientation of a bottom surface of a legged robotic device with respect to a ground surface. The method may also include determining that the robotic device is in an unstable position, based on the determined orientation. The method may also include performing a first action configured to return the robotic device to a stable position. The method may also include performing a first action configured to return the legged robotic device to the stable position. The method may also include performing a second action configured to return the legged robotic device to the stable position, if the legged robotic device is in the unstable position after the first action.
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公开(公告)号：US09308648B2
公开(公告)日：2016-04-12
申请号：US14339841
申请日：2014-07-24
Applicant: Google Inc.
Inventor： Alexander Douglas Perkins , Matthew Malchano , Shervin Talebinejad
CPC classification number: B25J9/1682 , B25J5/00 , B25J9/162 , B25J9/1674 , B25J19/002 , B62D57/032 , Y10S901/01
Abstract: Example systems and methods for self-righting a robotic device are provided. An example method may include determining an orientation of a bottom surface of a legged robotic device with respect to a ground surface. The method may also include determining that the robotic device is in an unstable position, based on the determined orientation. The method may also include performing a first action configured to return the robotic device to a stable position. The method may also include performing a first action configured to return the legged robotic device to the stable position. The method may also include performing a second action configured to return the legged robotic device to the stable position, if the legged robotic device is in the unstable position after the first action.
Abstract translation: 提供了用于自动矫正机器人设备的示例系统和方法。 示例性方法可以包括确定腿式机器人装置的底面相对于地面的取向。 该方法还可以包括基于确定的取向来确定机器人装置处于不稳定位置。 该方法还可以包括执行配置为将机器人装置返回到稳定位置的第一动作。 该方法还可以包括执行配置成将有腿的机器人装置返回到稳定位置的第一动作。 如果腿式机器人装置在第一动作之后处于不稳定位置，则该方法还可以包括执行配置成将有腿机器人装置返回到稳定位置的第二动作。
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公开(公告)号：US20160023354A1
公开(公告)日：2016-01-28
申请号：US14339841
申请日：2014-07-24
Applicant: Google Inc.
Inventor： Alexander Douglas Perkins , Matthew Malchano , Shervin Talebinejad
CPC classification number: B25J9/1682 , B25J5/00 , B25J9/162 , B25J9/1674 , B25J19/002 , B62D57/032 , Y10S901/01
Abstract: Example systems and methods for self-righting a robotic device are provided. An example method may include determining an orientation of a bottom surface of a legged robotic device with respect to a ground surface. The method may also include determining that the robotic device is in an unstable position, based on the determined orientation. The method may also include performing a first action configured to return the robotic device to a stable position. The method may also include performing a first action configured to return the legged robotic device to the stable position. The method may also include performing a second action configured to return the legged robotic device to the stable position, if the legged robotic device is in the unstable position after the first action.
Abstract translation: 提供了用于自动矫正机器人设备的示例系统和方法。 示例性方法可以包括确定腿式机器人装置的底面相对于地面的取向。 该方法还可以包括基于确定的取向来确定机器人装置处于不稳定位置。 该方法还可以包括执行配置为将机器人装置返回到稳定位置的第一动作。 该方法还可以包括执行配置成将有腿的机器人装置返回到稳定位置的第一动作。 如果腿式机器人装置在第一动作之后处于不稳定位置，则该方法还可以包括执行配置成将有腿机器人装置返回到稳定位置的第二动作。
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