公开(公告)号：US10065311B1

公开(公告)日：2018-09-04

申请号：US15177319

申请日：2016-06-08

Applicant: X DEVELOPMENT LLC

Inventor： Thomas Buschmann

IPC: B25J19/00 ,  B25J9/16

Abstract: Methods, apparatus, systems, and computer-readable media are provided for avoiding and/or operating robots through singularities. In various implementations, a Cartesian input velocity to be attained by a robot end effector may be received as user input. An attainable velocity of the end effector may be determined that excludes at least one directional component deemed unattainable by the end effector based on physical attribute(s) of the robot. Joint velocities to be attained by joints of the robot in joint space to move the end effector pursuant to the attainable velocity in configuration space may be calculated and scaled to account for a joint velocity limit associated with at least one joint. Actuator trajectories may be calculated for the joints of the robot based at least in part on the scaled joint velocities. The joints of the robot may then be operated in accordance with the calculated joint trajectories.

公开(公告)号：US09844872B1

公开(公告)日：2017-12-19

申请号：US14797912

申请日：2015-07-13

Applicant: X Development LLC

Inventor： Thomas Buschmann

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  G05B19/406

CPC classification number: B25J9/163 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1653 ,  G05B19/406

Abstract: Methods, apparatus, systems, and computer readable media are provided for determining: 1) sensor parameters for sensors of a robot and 2) model parameters of a dynamic model of the robot. The sensor parameters and model parameters are determined based on applying, as values for known variables of a system equation of the robot, sensor readings and position values for each of a plurality of instances of a traversal of the robot along a trajectory. The system equation of the robot is a dynamic model for the robot that includes sensor models substituted for one or more corresponding variables of the dynamic model. The system equation includes unknown variables representing unknown sensor biases for the sensors of the robot and unknown model parameters of the dynamic model of the robot. Solutions to the unknown variables are generated and utilized to determine the sensor parameters and the model parameters.

公开(公告)号：US10592552B1

公开(公告)日：2020-03-17

申请号：US16374836

申请日：2019-04-04

Applicant: X Development LLC

Inventor： Emily Cooper ,  David Deephanphongs ,  Yuanzheng Gong ,  Thomas Buschmann ,  Matthieu Guilbert

IPC: G06F16/58 ,  G06F16/51 ,  B25J9/16 ,  H04N5/04 ,  H04N5/76

Abstract: Methods, apparatus, systems, and computer-readable media for assigning a real-time clock domain timestamp to sensor frames from a sensor component that operates in a non-real-time time-domain. In some implementations, a real-time component receives capture instances that each indicate capturing of a corresponding sensor data frame by the sensor component. In response to a capture output instance, the real-time component or an additional real-time component assigns a real-time timestamp to the capture output instance, where the real-time timestamp is based on the real-time clock domain. Separately, a non-real-time component receives the corresponding sensor data frames captured by the sensor component, along with corresponding metadata. For each sensor data frame, it is determined whether there is a real-time timestamp that corresponds to the data frame and, if so, the real-time timestamp is assigned to the sensor data frame.

公开(公告)号：US10296602B1

公开(公告)日：2019-05-21

申请号：US15490711

申请日：2017-04-18

Applicant: X Development LLC

Inventor： Emily Cooper ,  Matthieu Guilbert ,  Thomas Buschmann ,  David Deephanphongs ,  Yuanzheng Gong

IPC: G06F17/40 ,  G06F17/30 ,  H04N5/76 ,  H04N5/04 ,  B25J9/16

Abstract: Methods, apparatus, systems, and computer-readable media for assigning a real-time clock domain timestamp to sensor frames from a sensor component that operates in a non-real-time time-domain. In some implementations, a real-time component receives capture instances that each indicate capturing of a corresponding sensor data frame by the sensor component. In response to a capture output instance, the real-time component or an additional real-time component assigns a real-time timestamp to the capture output instance, where the real-time timestamp is based on the real-time clock domain. Separately, a non-real-time component receives the corresponding sensor data frames captured by the sensor component, along with corresponding metadata. For each sensor data frame, it is determined whether there is a real-time timestamp that corresponds to the data frame and, if so, the real-time timestamp is assigned to the sensor data frame.