公开(公告)号：US09505132B1

公开(公告)日：2016-11-29

申请号：US14673165

申请日：2015-03-30

Applicant: X Development LLC

Inventor： Jeffrey Thomas Bingham ,  Rob Wilson ,  Adam Reich

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1671 ,  B25J9/1694 ,  G05B2219/40599 ,  G05B2219/41357

Abstract: Examples are provided that describe calibration of a sensor of a robotic device. In one example, a system includes least one processor and data storage comprising instructions executable by the at least one processor to cause the system to perform operations. The operations include simulating a movement of a robotic component of a robotic device to a plurality of positions. The operations may also include determining a relationship between a simulated torque values and simulated force values at the plurality of positions. The operations may also include determining expected torque values based on detected force values and the determined relationship. Based on the expected torque values satisfying a threshold associated with the simulated torque values, determining a plurality of calibration parameters of the one or more sensors according to the optimization.

Abstract translation: 提供了描述机器人装置的传感器的校准的示例。 在一个示例中，系统包括至少一个处理器和数据存储器，该数据存储器包括可由所述至少一个处理器执行以使系统执行操作的指令。 这些操作包括模拟机器人装置的机器人部件到多个位置的运动。 操作还可以包括确定模拟扭矩值与多个位置处的模拟力值之间的关系。 操作还可以包括基于检测到的力值和所确定的关系来确定预期扭矩值。 基于满足与模拟转矩值相关联的阈值的预期转矩值，根据优化确定一个或多个传感器的多个校准参数。

公开(公告)号：US09592608B1

公开(公告)日：2017-03-14

申请号：US14570183

申请日：2014-12-15

Applicant: X Development LLC

Inventor： Jeffrey Thomas Bingham ,  Rob Wilson

IPC: B25J9/22 ,  B25J9/16 ,  B25J9/00

CPC classification number: B25J9/0081 ,  B25J9/1674 ,  G05B19/423 ,  G05B2219/36418 ,  G05B2219/36419 ,  Y10S901/04

Abstract: Example implementations may relate to a robotic system that provides feedback. The robotic system is configured to receive information related to a path in an environment of the robotic system. The robotic system is also configured to initiate a recording process for storing data related to motion of a component in the environment. The robotic system is additionally configured to detect, during the recording process, movement of the component along the path in the environment, where the movement results from application of an external force to the robotic system. The robotic system is further configured to determine, during the recording process, deviation of the movement away from the path by at least a threshold amount and responsively provide feedback including one or more of (i) resisting the deviation of the movement away from the path and (ii) guiding the at least one component back towards the path.

Abstract translation: 示例实现可以涉及提供反馈的机器人系统。 机器人系统被配置为在机器人系统的环境中接收与路径相关的信息。 机器人系统还被配置为启动用于存储与环境中的组件的运动有关的数据的记录过程。 机器人系统另外配置成在记录过程期间检测组件沿着环境中的路径的移动，其中运动由外力施加到机器人系统。 所述机器人系统进一步被配置为在记录过程期间确定所述运动偏离所述路径至少阈值量并且响应地提供包括以下一个或多个的反馈：（i）抵抗所述运动偏离所述路径的偏差 和（ii）将所述至少一个部件引导回所述路径。

公开(公告)号：US10189159B1

公开(公告)日：2019-01-29

申请号：US14679286

申请日：2015-04-06

Applicant: X Development LLC

Inventor： Rob Wilson ,  Jeffrey Thomas Bingham

IPC: B25J9/16

Abstract: Examples are provided that describe a model free power detector. In one example, a method includes receiving, by one or more computing devices, a measurement of electrical power to a robotic device. The method also includes receiving, by the one or more computing devices, a measurement of mechanical power by the robotic device. Based on combinations of the electrical power to the robotic device being one of positive, negative, or about zero, and the mechanical power by the robotic device being one of positive, negative, or about zero, the method includes determining possible states of operation of the robotic device. The method also includes providing, by the one or more computing devices, the possible states of operation of the robotic device to a detector.

公开(公告)号：US09919416B1

公开(公告)日：2018-03-20

申请号：US15415227

申请日：2017-01-25

Applicant: X Development LLC

Inventor： Jeffrey Thomas Bingham ,  Rob Wilson

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/0081 ,  B25J9/1674 ,  G05B19/423 ,  G05B2219/36418 ,  G05B2219/36419 ,  Y10S901/04

Abstract: Example implementations may relate to a robotic system that provides feedback. The robotic system is configured to receive information related to a path in an environment of the robotic system. The robotic system is also configured to initiate a recording process for storing data related to motion of a component in the environment. The robotic system is additionally configured to detect, during the recording process, movement of the component along the path in the environment, where the movement results from application of an external force to the robotic system. The robotic system is further configured to determine, during the recording process, deviation of the movement away from the path by at least a threshold amount and responsively provide feedback including one or more of (i) resisting the deviation of the movement away from the path and (ii) guiding the at least one component back towards the path.

公开(公告)号：US09821466B2

公开(公告)日：2017-11-21

申请号：US15222485

申请日：2016-07-28

Applicant: X Development LLC

Inventor： Jeffrey Thomas Bingham ,  Rob Wilson ,  Advait Jain ,  Miguel Rivas ,  Lee Magnusson

IPC: B25J9/00 ,  B25J9/16 ,  G01D5/244

CPC classification number: B25J9/1692 ,  B25J9/1697 ,  G01D5/2448 ,  G05B2219/39058 ,  G05B2219/40596 ,  Y10S901/02 ,  Y10S901/09 ,  Y10S901/47

Abstract: A device is provided that comprises a hardware segment and an actuator to adjust a position of the segment within a range of positions. The device also comprises an encoder to rotate about an encoder axis responsive to the actuator adjusting the position. The device also comprises data storage that includes a dataset indicating offset angles between a reference configuration and a plurality of configurations of the encoder. The device also comprises a controller to cause the actuator to adjust the position to an end of the range of positions, responsively identify a range of encoder positions of the encoder that corresponds to the range of positions of the segment, modify the dataset such that the reference configuration corresponds to an end of the range of encoder positions, and determine a mapping between the offset angles indicated by the modified dataset and the range of positions of the hardware segment.