公开(公告)号：US09849926B2

公开(公告)日：2017-12-26

申请号：US14339267

申请日：2014-07-23

Applicant: Google Inc.

Inventor： John Aaron Saunders ,  Michael Murphy ,  Steven D. Potter

IPC: B62D57/032 ,  B25J18/00 ,  F15B21/00 ,  G05D1/02 ,  G05D16/20 ,  F15B13/04

CPC classification number: 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

Abstract: 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.

公开(公告)号：US09611946B1

公开(公告)日：2017-04-04

申请号：US14827531

申请日：2015-08-17

Applicant: Google Inc.

Inventor： Steven D. Potter ,  John Aaron Saunders

IPC: F16K11/085 ,  F16K31/12

CPC classification number: F15B13/0406 ,  F15B11/10 ,  F15B2211/30525 ,  F15B2211/7055 ,  F16K11/0856 ,  F16K31/041

Abstract: An example valve includes a sleeve having a plurality of openings. A spool is rotatable within the sleeve and includes a respective plurality of openings corresponding to the plurality of openings of the sleeve. A rotary actuator coupled to the spool is configured for rotating the spool within the sleeve to one of at least eight rotary positions. The rotary actuator can rotate the spool to a given rotary position in a clockwise or a counter-clockwise direction to cause at least a partial alignment between a subset of the respective plurality of openings of the spool and a subset of the plurality of openings of the sleeve.

公开(公告)号：US20160348798A1

公开(公告)日：2016-12-01

申请号：US15232050

申请日：2016-08-09

Applicant: Google Inc.

Inventor： John Aaron Saunders ,  Steven D. Potter

IPC: F16K11/085 ,  F15B13/04

CPC classification number: F16K11/0856 ,  F15B13/0406 ,  F15B13/0444 ,  F15B2211/3127 ,  F16K11/06 ,  F16K31/042 ,  Y10T137/86646 ,  Y10T137/86654 ,  Y10T137/86662

Abstract: An example valve includes a sleeve having a plurality of openings configured along a length of the sleeve. A spool is rotatable within the sleeve and includes a respective plurality of openings along a length of the spool corresponding to the plurality of openings of the sleeve. A rotary actuator coupled to the spool is configured for rotating the spool within the sleeve. The rotary actuator can rotate the spool to a given rotary position in a clockwise or a counter-clockwise direction to cause at least a partial alignment between a subset of the respective plurality of openings of the spool and a subset of the plurality of openings of the sleeve.

Abstract translation: 示例性阀包括具有沿套筒的长度配置的多个开口的套筒。 线轴可在套筒内旋转，并且包括相应于多个开口，该开口沿着与所述套筒的多个开口相对应的所述线轴长度。 联接到线轴的旋转致动器构造成用于使套筒内的线轴旋转。 旋转致动器可以以顺时针或逆时针方向将线轴旋转到给定的旋转位置，以使得线轴的相应多个开口的子集和多个开口的子集之间的至少部分对准 袖。

公开(公告)号：US09927037B2

公开(公告)日：2018-03-27

申请号：US15232050

申请日：2016-08-09

Applicant: Google Inc.

Inventor： John Aaron Saunders ,  Steven D. Potter

IPC: F16K31/04 ,  F16K11/076 ,  F15B13/04 ,  F16K11/085 ,  F16K11/06 ,  F15B13/044

CPC classification number: F16K11/0856 ,  F15B13/0406 ,  F15B13/0444 ,  F15B2211/3127 ,  F16K11/06 ,  F16K31/042 ,  Y10T137/86646 ,  Y10T137/86654 ,  Y10T137/86662

Abstract: An example valve includes a sleeve having a plurality of openings configured along a length of the sleeve. A spool is rotatable within the sleeve and includes a respective plurality of openings along a length of the spool corresponding to the plurality of openings of the sleeve. A rotary actuator coupled to the spool is configured for rotating the spool within the sleeve. The rotary actuator can rotate the spool to a given rotary position in a clockwise or a counter-clockwise direction to cause at least a partial alignment between a subset of the respective plurality of openings of the spool and a subset of the plurality of openings of the sleeve.

公开(公告)号：US20170191505A1

公开(公告)日：2017-07-06

申请号：US15465415

申请日：2017-03-21

Applicant: Google Inc.

Inventor： Michael Murphy ,  John Aaron Saunders ,  Steven D. Potter

IPC: F15B11/18 ,  B25J9/14 ,  G05D1/02 ,  B62D57/032 ,  F15B11/16

CPC classification number: 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

Abstract: 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.

公开(公告)号：US20180172121A1

公开(公告)日：2018-06-21

申请号：US15380561

申请日：2016-12-15

Applicant: Google Inc.

Inventor： Steven D. Potter ,  Zachary John Jackowski ,  Adam Young

IPC: F16H25/20 ,  B62D57/032 ,  B25J9/10

CPC classification number: F16H25/20 ,  B25J9/102 ,  B25J9/106 ,  B25J9/108 ,  B25J9/123 ,  B25J17/0241 ,  B62D57/032 ,  F16H2025/204 ,  F16H2025/2043 ,  F16H2025/2075 ,  Y10S901/01

Abstract: An example robot includes: a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint; a screw actuator disposed within the upper leg member, where the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut; a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft; a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier; and a linkage coupled to the carrier, where the linkage is coupled to the lower leg member at the knee joint.

公开(公告)号：US20160023699A1

公开(公告)日：2016-01-28

申请号：US14339267

申请日：2014-07-23

Applicant: Google Inc.

Inventor： John Aaron Saunders ,  Michael Murphy ,  Steven D. Potter

IPC: B62D57/032 ,  B25J18/00 ,  F15B21/00 ,  G05D1/02

CPC classification number: 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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US20170159680A1

公开(公告)日：2017-06-08

申请号：US15439340

申请日：2017-02-22

Applicant: Google Inc.

Inventor： Steven D. Potter ,  John Aaron Saunders

IPC: F15B13/04 ,  F15B11/10 ,  F16K11/085

CPC classification number: F15B13/0406 ,  F15B11/10 ,  F15B2211/30525 ,  F15B2211/7055 ,  F16K11/0856 ,  F16K31/041

Abstract: An example valve includes a sleeve having a plurality of openings. A spool is rotatable within the sleeve and includes a respective plurality of openings corresponding to the plurality of openings of the sleeve. A rotary actuator coupled to the spool is configured for rotating the spool within the sleeve to one of at least eight rotary positions. The rotary actuator can rotate the spool to a given rotary position in a clockwise or a counter-clockwise direction to cause at least a partial alignment between a subset of the respective plurality of openings of the spool and a subset of the plurality of openings of the sleeve.

公开(公告)号：US09638216B1

公开(公告)日：2017-05-02

申请号：US14447796

申请日：2014-07-31

Applicant: Google Inc.

Inventor： Michael Murphy ,  John Aaron Saunders ,  Steven D. Potter

IPC: F15B11/16 ,  G05D1/02 ,  B62D57/032 ,  B25J9/20 ,  F15B11/18 ,  F15B11/22

CPC classification number: 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

Abstract: 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.

公开(公告)号：US09435446B1

公开(公告)日：2016-09-06

申请号：US14492183

申请日：2014-09-22

Applicant: Google Inc.

Inventor： John Aaron Saunders ,  Steven D. Potter

IPC: F16K31/04 ,  F16K11/085 ,  F16K11/06

CPC classification number: F16K11/0856 ,  F15B13/0406 ,  F15B13/0444 ,  F15B2211/3127 ,  F16K11/06 ,  F16K31/042 ,  Y10T137/86646 ,  Y10T137/86654 ,  Y10T137/86662

Abstract: An example valve includes a sleeve having a plurality of openings configured along a length of the sleeve. A spool is rotatable within the sleeve and includes a respective plurality of openings along a length of the spool corresponding to the plurality of openings of the sleeve. A rotary actuator coupled to the spool is configured for rotating the spool within the sleeve. The rotary actuator can rotate the spool to a given rotary position in a clockwise or a counter-clockwise direction to cause at least a partial alignment between a subset of the respective plurality of openings of the spool and a subset of the plurality of openings of the sleeve.

Abstract translation: 示例性阀包括具有沿套筒的长度配置的多个开口的套筒。 线轴可在套筒内旋转，并且包括相应于多个开口，该开口沿着与所述套筒的多个开口相对应的所述线轴长度。 联接到线轴的旋转致动器构造成用于使套筒内的线轴旋转。 旋转致动器可以以顺时针或逆时针方向将线轴旋转到给定的旋转位置，以使得线轴的相应多个开口的子集和多个开口的子集之间的至少部分对准 袖。