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    Legged robot motion control method, apparatus, and device, and storage medium
    1.
    发明授权
    Legged robot motion control method, apparatus, and device, and storage medium 有权

    公开(公告)号：US12130632B2

    公开(公告)日：2024-10-29

    申请号：US17945659

    申请日：2022-09-15

    申请人： TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED

    发明人： Yu Zheng ,  Xinyang Jiang ,  Wanchao Chi ,  Zhengyou Zhang

    IPC分类号： G05D1/00 ,  B62D57/032

    CPC分类号： G05D1/0251 ,  B62D57/032

    摘要： A legged robot motion control method, apparatus, and device, and a storage medium. The method includes: acquiring center of mass state data corresponding to a spatial path starting point and spatial path ending point of a motion path; determining a candidate foothold of each foot in the motion path based on the spatial path starting point and the spatial path ending point; determining a variation relationship between a center of mass position variation coefficient and a foot contact force based on the center of mass state data; screening out, under restrictions of a constraint set, a target center of mass position variation coefficient and target foothold that satisfy the variation relationship; determining a target motion control parameter according to the target center of mass position variation coefficient and the target foothold; and controlling a legged robot based on the target motion control parameter to move according to the motion path.

    Auto swing-height adjustment
    2.
    发明授权
    Auto swing-height adjustment 有权

    公开(公告)号：US12130625B2

    公开(公告)日：2024-10-29

    申请号：US18341388

    申请日：2023-06-26

    申请人： Boston Dynamics, Inc.

    发明人： Alexander Douglas Perkins ,  Kevin Blankespoor

    IPC分类号： G05D1/00 ,  B25J9/16 ,  B62D57/032

    CPC分类号： G05D1/021 ,  B25J9/1664 ,  B62D57/032 ,  G05D1/0212 ,  Y10S901/01

    摘要： An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.

    Method and system for improving locomotion in a robot
    3.
    发明授权
    Method and system for improving locomotion in a robot 有权

    公开(公告)号：US12128974B2

    公开(公告)日：2024-10-29

    申请号：US17433809

    申请日：2020-02-25

    申请人： Agility Robotics, Inc.

    发明人： Jonathan Hurst ,  Andrew Abate ,  Mitchell Bernards

    IPC分类号： B62D57/032 ,  F16F3/12

    CPC分类号： B62D57/032 ,  F16F3/12

    摘要： A method is disclosed for reducing impact forces to legged robots as a result of traversing a terrain. The method includes employing actuators and compliant elements to use the contact of a first portion of a foot assembly with a terrain during a step to reduce the vertical velocity of a subsequent portion of the foot assembly so that the vertical velocity of the subsequent portion as it touches the terrain is substantially zero relative to the terrain. Foot assemblies that employ these methods are also provided.

    MOVING PART SWITCHABLE BETWEEN LEG MODE AND WHEEL MODE AND HYBRID ROBOT HAVING THEREOF
    5.
    发明公开
    MOVING PART SWITCHABLE BETWEEN LEG MODE AND WHEEL MODE AND HYBRID ROBOT HAVING THEREOF 审中-公开

    公开(公告)号：US20240336313A1

    公开(公告)日：2024-10-10

    申请号：US18293510

    申请日：2022-07-29

    申请人： Kookmin University Industry Academy Cooperation Foundation

    发明人： Baek Kyu CHO

    IPC分类号： B62D57/028 ,  B60G17/015 ,  B62D57/032

    CPC分类号： B62D57/028 ,  B60G17/015 ,  B62D57/032

    摘要： Disclosed are a moving part switchable in a leg mode and a wheel mode and thus capable of moving stably over various terrains by switching to a leg mode or a wheel mode as needed; and a hybrid robot having the moving part. More particularly, the hybrid robot switchable in a leg mode and a wheel mode includes a main body; and a moving part movable in a state of being rotated in at least one direction of roll, pitch, and yaw directions by a motor mounted on the main body, wherein the moving part includes: a first link rotatably connected to the main body through a portion between one side of the first link and another side thereof; second links located below the first link and configured to rotate in an identical direction in conjunction with rotation of the first link; a joint motion means connected to one side of each of the first and second links; and a wheel motion means connected to another side of each of the first and second links, wherein the moving part operates together with the motor mounted on the main body, the moving part is operated by the joint motion means in the leg mode, and the moving part is operated by the wheel motion means in the wheel mode.

    MOTION CONTROL METHOD, CONTROLLER, AND STORAGE MEDIUM
    7.
    发明公开
    MOTION CONTROL METHOD, CONTROLLER, AND STORAGE MEDIUM 审中-公开

    公开(公告)号：US20240248488A1

    公开(公告)日：2024-07-25

    申请号：US18624326

    申请日：2024-04-02

    申请人： TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED

    发明人： Wanchao CHI ,  Xinyang JIANG ,  Yu ZHENG ,  Yufeng ZHANG ,  Lingzhu XIANG

    IPC分类号： G05D1/60 ,  B62D57/032 ,  G05D109/12

    CPC分类号： G05D1/60 ,  B62D57/032 ,  G05D2109/12

    摘要： The present disclosure discloses a motion control method and apparatus for a legged robot, a legged robot, a computer-readable storage medium, and a computer program product. The legged robot includes at least two foot-ends. The method includes: receiving a bound instruction for the legged robot in response to the foot-ends of the legged robot standing in unit regions that are independent from one another, the bound instruction being used for instructing the legged robot to bound to a target unit region from at least two unit regions in which the legged robot is currently located; and controlling the legged robot to bound to the target unit region in response to the bound instruction, a distance between any two foot-ends of the legged robot in the target unit region being less than a distance between two corresponding foot-ends before bounding.

    BRAKING AND REGENERATION CONTROL IN A LEGGED ROBOT
    10.
    发明公开
    BRAKING AND REGENERATION CONTROL IN A LEGGED ROBOT 审中-公开

    公开(公告)号：US20240051150A1

    公开(公告)日：2024-02-15

    申请号：US18467127

    申请日：2023-09-14

    申请人： Boston Dynamics, Inc.

    发明人： Alex Khripin ,  Stephen Berard ,  Alfred Rizzi

    IPC分类号： B25J9/20 ,  F15B9/09 ,  B62D57/032 ,  B25J5/00

    CPC分类号： B25J9/20 ,  F15B9/09 ,  B62D57/032 ,  B25J5/00 ,  Y10S901/01

    摘要： An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.