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公开(公告)号：US20220297293A1
公开(公告)日：2022-09-22
申请号：US17208721
申请日：2021-03-22
Applicant: X Development LLC
Inventor： Robert Wilson
IPC: B25J9/16
Abstract: Implementations are directed to, for each of one or more joints of a robot, generating dynamic joint torque saturation limits for the joint, such as an upper joint torque saturation value and a lower joint torque saturation value. Implementations are additionally or alternatively directed to utilizing the dynamic torque saturation limits for the joint in generating driving torques and/or to driving a motor (or other actuator) of the joint based on the driving torques. Various implementations can enable regulation of contact forces for a robot in situations where the robot lacks joint torque sensor(s) and/or force torque sensor(s) and/or in situations where such sensor(s) are present, but have failed or are malfunctioning.
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公开(公告)号：US20190351548A1
公开(公告)日：2019-11-21
申请号：US16531953
申请日：2019-08-05
Applicant: X Development LLC
Inventor： Christopher Morey , Robert Wilson , Jonathan Souliere
Abstract: Systems and methods related to providing configurations of robotic devices are provided. A computing device can receive a configuration request for a robotic device including environmental information and task information for tasks requested to be performed by the robotic device in an environment. The computing device can determine task-associated regions in the environment. A task-associated region for a given task can include a region of the environment that the robotic device is expected to reach while performing the given task. Based at least on the task-associated regions, the computing device can determine respective dimensions of components of the robotic device and an arrangement for assembling the components into the robotic device so that the robotic device is configured to perform at least one task in the environment. The computing device can provide a configuration that includes the respectively determined dimensions and the determined arrangement.
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公开(公告)号：US10011013B2
公开(公告)日：2018-07-03
申请号：US14672706
申请日：2015-03-30
Applicant: X Development LLC
Inventor： Jeffrey Thomas Bingham , Robert Wilson
CPC classification number: B25J9/1674 , G06Q10/20
Abstract: Example implementations may relate to a cloud service that stores a detection metric corresponding to a maintenance request for a particular component. In particular, the cloud may receive sensor data from various robotic systems each having the particular component. The cloud may then determine, based on the sensor data, performance data for the particular component over time at the various robotic systems. The cloud may also determine various maintenance events for the particular component. Based on the performance data, the cloud may determine that at least one maintenance event occurs at other metrics that are different from the detection metric. Responsively, the cloud may adjust the detection metric based on a difference between the detection metric and the other metrics. The cloud may then detect operation of a particular robotic system at the adjusted detection metric and may responsively request maintenance for the particular component at the particular robotic system.
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公开(公告)号：US09827678B1
公开(公告)日：2017-11-28
申请号：US15155388
申请日：2016-05-16
Applicant: X Development LLC
Inventor： Seth Gilbertson , Jeff Weber , Robert Wilson
CPC classification number: B25J9/1682 , A47L11/24 , A47L11/4011 , A47L11/4055 , A47L11/4061 , A47L2201/00 , B25J9/0087 , B25J9/046 , B25J9/1694 , B25J11/0085 , B25J15/0014 , B25J15/0066 , B25J18/025 , B25J19/007 , Y10S901/01 , Y10S901/41
Abstract: An example robotic arm includes a base linkage and a first end effector connected to a second end of the base linkage through a first rotational joint. The robotic arm additionally includes a control arm. The control arm includes a first linkage and a second linkage, each having a first end and a second end. The first end of the first linkage is connected to the second end of the base linkage through a second rotational joint. The first end of the second linkage is connected to the second end of the first linkage through a third rotational joint. The control arm also includes a second end effector connected to the second end of the second linkage through a fourth rotational joint. The first, second, third, and fourth rotational joints are configured to rotate in or parallel to a first plane.
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公开(公告)号：US11338433B2
公开(公告)日：2022-05-24
申请号：US16531953
申请日：2019-08-05
Applicant: X Development LLC
Inventor： Christopher Morey , Robert Wilson , Jonathan Souliere
IPC: G05B19/418 , B25J9/16 , B25J9/08 , B25J19/00
Abstract: Systems and methods related to providing configurations of robotic devices are provided. A computing device can receive a configuration request for a robotic device including environmental information and task information for tasks requested to be performed by the robotic device in an environment. The computing device can determine task-associated regions in the environment. A task-associated region for a given task can include a region of the environment that the robotic device is expected to reach while performing the given task. Based at least on the task-associated regions, the computing device can determine respective dimensions of components of the robotic device and an arrangement for assembling the components into the robotic device so that the robotic device is configured to perform at least one task in the environment. The computing device can provide a configuration that includes the respectively determined dimensions and the determined arrangement.
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Patent Agency Ranking
公开(公告)号：US10414046B1
公开(公告)日：2019-09-17
申请号：US15345508
申请日：2016-11-07
Applicant: X Development LLC
Inventor： Christopher Morey , Robert Wilson , Jonathan Souliere
Abstract: Systems and methods related to providing configurations of robotic devices are provided. A computing device can receive a configuration request for a robotic device including environmental information and task information for tasks requested to be performed by the robotic device in an environment. The computing device can determine task-associated regions in the environment. A task-associated region for a given task can include a region of the environment that the robotic device is expected to reach while performing the given task. Based at least on the task-associated regions, the computing device can determine respective dimensions of components of the robotic device and an arrangement for assembling the components into the robotic device so that the robotic device is configured to perform at least one task in the environment. The computing device can provide a configuration that includes the respectively determined dimensions and the determined arrangement.
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公开(公告)号：US09827677B1
公开(公告)日：2017-11-28
申请号：US15155368
申请日：2016-05-16
Applicant: X Development LLC
Inventor： Seth Gilbertson , Jeff Weber , Robert Wilson
CPC classification number: B25J9/1682 , A47L11/24 , A47L11/4011 , A47L11/4052 , A47L11/4055 , A47L11/4061 , A47L2201/00 , B25J5/007 , B25J9/0087 , B25J9/046 , B25J9/1694 , B25J11/008 , B25J11/0085 , B25J15/0014 , B25J15/0019 , B25J15/0066 , B25J15/02 , G05D1/021 , G05D2201/0203 , Y10S901/01 , Y10S901/41
Abstract: An example robotic device includes a mobile base and a base linkage. The base linkage has a first end and a second end where the first end is connected to the mobile base. The robotic device also includes a first end effector connected to the second end of the base linkage. The first end effector includes a shovel tool. The robotic device additionally includes an actuated control arm having a first end and a second end. The first end of the actuated control arm is connected to the second end of the base linkage. The robotic device further includes a second end effector connected to the second end of the actuated control arm. The second end effector includes a sweeping tool. The actuated control arm is configured to move the sweeping tool to engage with the shovel tool to sweep one or more objects onto the shovel tool.
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公开(公告)号：US09726263B1
公开(公告)日：2017-08-08
申请号：US15155636
申请日：2016-05-16
Applicant: X Development LLC
Inventor： Robert Wilson
CPC classification number: F16H9/04 , F16H9/24 , F16H19/005 , F16H19/0622 , F16H19/0672
Abstract: An example variable transmission system is provided. As an example, a variable transmission system may include a frame, an output hub coupled to the frame, a first linear actuator coupled to the frame, and a second linear actuator coupled to the frame. The variable transmission system may also include a tension-bearing element positioned around the output hub. A first end of the tension-bearing element may be coupled to the first linear actuator, and a second end of the tension-bearing element may be coupled to the second linear actuator. The tension-bearing element may include a variable stiffness profile such that a transmission ratio of the output hub may be adjusted based on a position of the second linear actuator relative to the output hub.
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公开(公告)号：US20200376656A1
公开(公告)日：2020-12-03
申请号：US16884873
申请日：2020-05-27
Applicant: X Development LLC
Inventor： Ben Berkowitz , Justine Rembisz , Vincent Nabat , Joshua Seal , Gregory Katz , Chris Jones , Nicholas Foster , Christopher Morey , John Tran , Marc Strauss , Philip Mullins , Jonathan Souliere , Sarah Bates , Matthew Day , Robert Wilson , Mario Prats
Abstract: In an embodiment, a mobile robotic device includes a mobile base and a mounting column fixed to the mobile base. The robotic device further includes a seven-degree-of-freedom (7DOF) robotic arm, including a rotatable joint that enables rotation of the 7DOF robotic arm relative to the mounting column. The robotic device additionally includes a perception housing comprising at least one sensor, where the mounting column, the rotatable joint of the 7DOF arm, and the perception housing are arranged in a stacked tower such that the rotatable joint of the 7DOF arm is above the mounting column and below the perception housing.
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公开(公告)号：US10406685B1
公开(公告)日：2019-09-10
申请号：US15492422
申请日：2017-04-20
Applicant: X Development LLC
Inventor： Robert Wilson
Abstract: Techniques are provided for achieving stable tracking and/or manipulation by robots of objects. In various implementations, it may be detected, based on force signal(s) from force sensor(s), that an end effector of the robot has made physical contact with an environmental object. Based on the force signal(s), end effector constraint(s) may be identified. These constraint(s) may include a position constraint associated with position control of the end effector and/or a grasp force constraint associated with grasp force control of the end effector. Error measure(s) may be determined based on a measured position/force of the end effector. The error measure(s) may include a position control and/or grasp control error. The measured position and/or force may be compared with the end effector constraint(s) to reduce an impact of the error measure(s) on operation of the robot.
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