公开(公告)号：US09908240B1

公开(公告)日：2018-03-06

申请号：US15386830

申请日：2016-12-21

Applicant: Google Inc.

Inventor： Marco da Silva ,  Kevin Blankespoor ,  Gabriel Nelson

IPC: B25J9/00 ,  B25J9/16 ,  B25J5/00 ,  G01C9/00 ,  B62D57/032

CPC classification number: B25J5/00 ,  B62D57/032 ,  Y10S901/01

Abstract: An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) determining, for a particular topographical feature of the environment in a direction of travel of the robotic device, a height of the particular topographical feature and a distance between the robotic device and the particular topographical feature, (iii) estimating a ground plane extending from the robotic device in the direction of travel toward the particular topographical feature, the ground plane fitting to the determined distance and height, (iv) determining a grade of the estimated ground plane, and (v) directing the robotic device to adjust pitch in proportion to the determined grade.

公开(公告)号：US09623568B1

公开(公告)日：2017-04-18

申请号：US15145773

申请日：2016-05-03

Applicant: Google Inc.

Inventor： Marco da Silva ,  Kevin Blankespoor ,  Michael Rose

IPC: B25J13/08 ,  B25J9/00 ,  G05D1/08 ,  G01C19/5705

CPC classification number: B25J13/088 ,  B25J9/0003 ,  B25J13/085 ,  B62D57/032 ,  G01C19/5705 ,  G05D1/0891 ,  G05D2201/0217 ,  Y10S901/01

Abstract: An example method may include determining a requested yaw for a body of a robot, where the biped robot comprises a foot coupled to the body via a leg. The robot may then detect, via one or more sensors, a yaw rotation of the body with respect to a ground surface, where the foot is in contact with the ground surface. Based on the detected yaw rotation of the body, the robot may determine a measured yaw for the body. The robot may also determine a target yaw for the body, where the target yaw for the body is between the measured yaw for the body and the requested yaw for the body. The robot may then cause the foot to rotate the body to the target yaw for the body.

公开(公告)号：US09618937B1

公开(公告)日：2017-04-11

申请号：US14468146

申请日：2014-08-25

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Alex Perkins ,  Marco da Silva

IPC: G01C22/00 ,  G05D1/00 ,  G05D1/02 ,  B62D57/02 ,  G05B15/00 ,  G05B19/00 ,  G05B19/18 ,  G06F19/00

CPC classification number: G05D1/021 ,  B25J13/08 ,  B62D57/02 ,  B62D57/032 ,  Y10S901/01

Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.

公开(公告)号：US20170089365A1

公开(公告)日：2017-03-30

申请号：US15373626

申请日：2016-12-09

Applicant: Google Inc.

Inventor： Alex Perkins ,  Kevin Blankespoor ,  Alfred Rizzi

IPC: F15B13/02 ,  F15B15/28 ,  F15B21/08 ,  F15B11/048

Abstract: In some applications, a piston of a hydraulic actuator may move at high speeds, and large undesired forces may be generated if the piston reaches an end-stop of the hydraulic actuator at a high speed. The undesired forces may, for example, cause mechanical damage in the hydraulic actuator. A controller may receive information indicative of the piston reaching a first position at a first threshold distance from the end-stop, and, in response, may modify a signal to a valve assembly controlling flow of hydraulic fluid to and from the hydraulic actuator. Further, the controller may receive information indicative of the piston reaching a second position at a second threshold distance closer to the end-stop of the hydraulic actuator, and, in response, the controller may further modify the signal to the valve assembly so as to apply a force on the piston in a away from the end-stop.

公开(公告)号：US09561592B1

公开(公告)日：2017-02-07

申请号：US14713569

申请日：2015-05-15

Applicant: Google Inc.

Inventor： Marco da Silva ,  Kevin Blankespoor ,  Gabriel Nelson

IPC: G05B19/00 ,  B25J9/16 ,  G01C9/00 ,  B25J5/00

CPC classification number: B25J5/00 ,  B62D57/032 ,  Y10S901/01

Abstract: An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) determining, for a particular topographical feature of the environment in a direction of travel of the robotic device, a height of the particular topographical feature and a distance between the robotic device and the particular topographical feature, (iii) estimating a ground plane extending from the robotic device in the direction of travel toward the particular topographical feature, the ground plane fitting to the determined distance and height, (iv) determining a grade of the estimated ground plane, and (v) directing the robotic device to adjust pitch in proportion to the determined grade.

Abstract translation: 示例性实现包括（i）接收指示机器人设备正在操作的环境的外形特征的传感器数据，（ii）针对机器人设备的行进方向的环境的特定地形特征确定高度 具体地形特征以及机器人装置与特定地形特征之间的距离，（iii）估计从机器人装置沿着行进方向向特定地形特征延伸的接地平面，接地平面拟合到所确定的距离， 高度，（iv）确定估计的接地平面的等级，以及（v）引导机器人装置与所确定的等级成比例地调节间距。

公开(公告)号：US09895804B1

公开(公告)日：2018-02-20

申请号：US14482415

申请日：2014-09-10

Applicant: Google Inc.

Inventor： Alexander Douglas Perkins ,  Kevin Blankespoor

IPC: G06F19/00 ,  B25J9/16 ,  B62D57/032 ,  B25J9/14 ,  B25J17/00

CPC classification number: B25J9/1674 ,  B25J9/144 ,  B25J9/1664 ,  B25J9/1694 ,  B25J13/085 ,  B62D57/032 ,  Y10S901/01

Abstract: A control system of a robotic device may receive sensor data indicating at least one deviation from a nominal operating parameter of the robotic device, where the robotic device includes articulable legs that include respective actuators, and where one or more strokes of the actuators cause the articulable legs to articulate. Based on the received sensor data, the control system may determine that the at least one deviation exceeds a pre-determined threshold. In response to determining that the at least one deviation exceeds the pre-determined threshold, the control system may provide instructions for centering the one or more strokes at approximately a mid-point of extension of the actuators, and reducing a stroke length of the one or more strokes of the actuators.

公开(公告)号：US09789919B1

公开(公告)日：2017-10-17

申请号：US15077870

申请日：2016-03-22

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Marco da Silva

IPC: B62D57/02 ,  B25J9/16 ,  G01L5/00 ,  B62D57/032

CPC classification number: B62D57/02 ,  B25J9/1633 ,  B62D57/032 ,  G01L5/0028 ,  G05B2219/41005 ,  G05B2219/41006 ,  G05B2219/41021 ,  G05B2219/41025 ,  G05B2219/41163 ,  Y10S901/01

Abstract: An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.

公开(公告)号：US09594377B1

公开(公告)日：2017-03-14

申请号：US14709830

申请日：2015-05-12

Applicant: Google Inc.

Inventor： Alexander Douglas Perkins ,  Kevin Blankespoor

IPC: G05D1/00 ,  G01C22/00 ,  G06F19/00 ,  G05D1/02 ,  B62D57/032

CPC classification number: G05D1/021 ,  B62D57/032 ,  G05D1/0274 ,  G05D2201/0217 ,  Y10S901/01

Abstract: 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.

Abstract translation: 示例实现包括（i）接收指示机器人设备正在操作的环境的外形特征的传感器数据，（ii）将传感器数据处理成包括离散单元的二维矩阵的地形图，离散单元 指示环境的各个部分的样本高度，（iii）针对所述机器人装置的第一脚确定从第一剥离位置延伸到第一接触位置的第一步骤路径，（iv）在 所述地形图，包含所述第一步骤路径的单元的第一扫描区块，（v）确定所述第一单元格扫描区块中的第一高点; 和（vi）在第一步骤期间，引导机器人装置将第一脚提升到高于确定的第一高点的第一摆动高度。

公开(公告)号：US20170036352A1

公开(公告)日：2017-02-09

申请号：US15296094

申请日：2016-10-18

Applicant: Google Inc.

Inventor： Zachary Jackowski ,  Kevin Blankespoor ,  John Aaron Saunders ,  Francis M. Agresti

IPC: B25J13/08 ,  B62D57/032 ,  B25J9/16

CPC classification number: B25J13/085 ,  B25J9/1694 ,  B25J13/081 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/10

Abstract: Example methods and devices for touch-down detection for a robotic device are described herein. In an example embodiment, a computing system may receive a force signal due to a force experienced at a limb of a robotic device. The system may receive an output signal from a sensor of the end component of the limb. Responsive to the received signals, the system may determine whether the force signal satisfies a first threshold and determine whether the output signal satisfies a second threshold. Based on at least one of the force signal satisfying the first threshold or the output signal satisfying the second threshold, the system of the robotic device may provide a touch-down output indicating touch-down of the end component of the limb with a portion of an environment.

Abstract translation: 本文描述了用于机器人装置的用于触摸屏下降检测的示例性方法和装置。 在示例性实施例中，计算系统可以由于在机器人装置的肢体处经受的力而接收力信号。 系统可以从肢体的末端部件的传感器接收输出信号。 响应于所接收的信号，系统可以确定力信号是否满足第一阈值并且确定输出信号是否满足第二阈值。 基于满足第一阈值的力信号或满足第二阈值的输出信号中的至少一个，机器人装置的系统可以提供指示肢体的末端部分的下降的触下输出，其中一部分 一个环境。

公开(公告)号：US09387896B1

公开(公告)日：2016-07-12

申请号：US14468031

申请日：2014-08-25

Applicant: Google Inc.

Inventor： Kevin Blankespoor ,  Alex Perkins ,  Marco da Silva

IPC: G06F19/00 ,  B62D57/032

CPC classification number: B62D57/032 ,  B25J9/1615 ,  B25J9/162 ,  G05B2219/40065 ,  Y10S901/01 ,  Y10S901/46

Abstract: An example method may include i) determining, by a robot having at least one foot, a representation of a coefficient of friction between the foot and a ground surface; ii) determining, by the robot, a representation of a gradient of the ground surface; iii) based on the determined representations of the coefficient of friction and the gradient, determining a threshold orientation for a target ground reaction force on the foot of the robot during a step; iv) determining the target ground reaction force, where the target ground reaction force comprises a magnitude and an orientation; v) determining an adjusted ground reaction force by adjusting the orientation of the target ground reaction force to be within the determined threshold orientation; and vi) causing the foot of the robot to apply a force on the ground surface equal to and opposing the adjusted ground reaction force during the step.

Abstract translation: 示例性方法可以包括i）通过具有至少一个脚的机器人确定脚和地面之间的摩擦系数的表示; ii）由机器人确定地面坡度的表示; iii）基于摩擦系数和梯度的确定的表示，在步骤期间确定机器人的脚上的目标地面反作用力的阈值取向; iv）确定目标地面反作用力，其中目标地面反作用力包括大小和方位; v）通过将目标地面反作用力的取向调整在确定的阈值取向内来确定调整的地面反作用力; 以及vi）使所述机器人的脚在所述步骤期间在地面上施加与所述调整的地面反作用力相等并相对的力。