公开(公告)号：US20170368685A1

公开(公告)日：2017-12-28

申请号：US15239868

申请日：2016-08-18

Applicant: Qihan Technology Co., Ltd.

Inventor： Lvde Lin ,  Yongjun Zhuang

IPC: B25J9/16 ,  G05D1/02

CPC classification number: B25J9/1676 ,  B25J9/1694 ,  G05B2219/39091 ,  G05D1/0214 ,  G05D1/0242 ,  G05D1/0255 ,  G05D2201/0203 ,  G05D2201/0217 ,  Y10S901/01

Abstract: A method for automatic obstacle avoidance of a robot includes: obtaining distance values between the robot and an obstacle detected by sensors arranged on a left side, middle part and right side of the robot respectively; when a minimum distance value detected by the sensors on the middle part is less than a threshold value, if a minimum distance value detected by the sensors on either the left side or the right side exceeds an obstacle critical distance, turning the robot 90 degrees towards the side where the minimum distance value exceeds the obstacle critical distance; when the minimum distance value detected by the sensors on the middle part exceeds the distance threshold value, if only the minimum distance value detected by the sensors on the left side exceeds the obstacle critical distance, turning the robot towards the left side by a first angle value.

公开(公告)号：US20170144299A1

公开(公告)日：2017-05-25

申请号：US15300221

申请日：2015-04-17

Applicant: SOFTBANK ROBOTICS EUROPE ,  INSTITUT NATIONAL DE LA RECHERCHE EN INFORMATIQUE ET AUTOMATIQUE

Inventor： Jory LAFAYE ,  Cyrille COLLETTE ,  Pierre-Brice WIEBER

IPC: B25J9/16 ,  G05D1/08 ,  B25J5/00

CPC classification number: B25J9/162 ,  B25J5/007 ,  B25J9/1628 ,  G05D1/0891 ,  G05D2201/0217

Abstract: A humanoid robot with a body joined to an omnidirectional mobile ground base, equipped with: a body position sensor, a base position sensor and an angular velocity sensor to provide measures, actuators comprising at least 3 wheels located in the omnidirectional mobile base, extractors for converting sensored measures into useful data, a supervisor to calculate position, velocity and acceleration commands from the useful data, means for converting commands into instructions for the actuators, wherein the supervisor comprises: a no-tilt state controller, a tilt state controller and a landing state controller, each controller comprising means for calculating, position, velocity and acceleration commands based on a double point-mass robot model with tilt motion and on a linear model predictive control law, expressed as a quadratic optimization formulation with a weighted sum of objectives, and a set of predefined linear constraints.

公开(公告)号：US09625571B1

公开(公告)日：2017-04-18

申请号：US14819874

申请日：2015-08-06

Applicant: X Development LLC

Inventor： Shuntaro Yamazaki

IPC: G05B19/00 ,  G01S7/495 ,  B25J9/16 ,  H04W4/00

CPC classification number: G01S7/495 ,  B25J9/1674 ,  B25J9/1676 ,  B25J9/1697 ,  G05D1/0234 ,  G05D2201/0217 ,  H04B10/116 ,  H04W4/80 ,  Y10S901/01 ,  Y10S901/47

Abstract: Example implementations may relate to methods and systems for disturbing or deceiving sensors of robotic devices. Accordingly, a computing system may detect that a robotic device has entered a particular physical region. Responsively, the computing system may then determine at least one type of sensor that is associated with the robotic device and is used to detect reflected illumination that is reflected from an object. Based on the determined at least one type of sensor, the computing system may then select (i) at least one particular type of disturbing illumination and (ii) a target location within the particular physical region. Upon the selection, the computing system may direct at least one light source to emit the selected at least one particular type of disturbing illumination towards the selected target location so as to disturb the reflected illumination detectable by the robotic device using the at least one type of sensor.

公开(公告)号：US20170080565A1

公开(公告)日：2017-03-23

申请号：US15311800

申请日：2015-06-05

Applicant: SOFTBANK ROBOTICS EUROPE

Inventor： Sébastien DALIBARD ,  Aldenis GARCIA ,  Cyrille COLLETTE ,  Nicolas GARCIA ,  Lucas SOUCHET

IPC: B25J9/16 ,  G05D1/02

CPC classification number: B25J9/1676 ,  B25J9/1694 ,  B25J9/1697 ,  B25J11/0035 ,  G05B2219/39091 ,  G05D1/0214 ,  G05D2201/0217 ,  Y10S901/01

Abstract: A humanoid robot which can move on its lower limb to execute a trajectory and is capable of detecting intrusion of obstacles in a safety zone defined around its body as a function of its speed is provided. Preferably when the robot executes a predefined trajectory, for instance a part of a choreography, the robot which avoids collision with an obstacle will rejoin its original trajectory after avoidance of the obstacle. Rejoining trajectory and speed of the robot are adapted so that it is resynchronized with the initial trajectory. Advantageously, the speed of the joints of the upper members of the robot is adapted in case the distance with an obstacle decreases below a preset minimum. Also, the joints are stopped in case a collision of the upper members with the obstacle is predicted.

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：US20160347386A1

公开(公告)日：2016-12-01

申请号：US15117331

申请日：2015-02-27

Applicant: MITSUBISHI HEAVY INDUSTRIES, LTD.

Inventor： Natsuki MATSUNAMI ,  Tomohiro TAMI ,  Yuki TANI

IPC: B62D57/032 ,  G01B11/24 ,  G01C7/04 ,  G05D1/02

CPC classification number: B62D57/032 ,  G01B11/24 ,  G01C7/04 ,  G05D1/024 ,  G05D2201/0217

Abstract: Landform data showing the shape of a ground surface (4) is acquired. A specification position is specified on the ground surface. A relative angle (432; 442) between the virtual plane (51) and the ground surface (4) in the at least one inspection point (433; 443) is calculated based on the landform data when the virtual plane (51) set with the reference point (423) and the at least one inspection point (433; 443) is virtually arranged such that the reference point (423) overlaps with the specification position, and such that the virtual plane (51) becomes parallel to the ground surface in the specification position. A landform determination value indicating a flatness of the landform is calculated based on the relative angle (432; 442).

Abstract translation: 获取表示地面（4）的形状的地形数据。 在地面上规定了一个规格位置。 当所述虚拟平面（51）设置在所述虚拟平面（51）时，基于所述地形数据来计算所述至少一个检查点（433; 443）中的所述虚拟平面（51）和所述地面（4）之间的相对角度（432; 442） 参考点（423）和至少一个检查点（433; 443）被虚拟地布置成使得参考点（423）与指定位置重叠，并且使得虚拟平面（51）变得平行于地面 在规格位置。 基于相对角度（432; 442）计算表示地形的平坦度的地形确定值。

公开(公告)号：US20160184990A1

公开(公告)日：2016-06-30

申请号：US14700148

申请日：2015-04-30

Applicant: National Chiao Tung University

Inventor： Kai-Tai Song ,  Ming-Han Lin

IPC: B25J9/16 ,  B25J13/00 ,  B25J5/00

CPC classification number: B25J9/1664 ,  B25J9/1674 ,  B25J9/1679 ,  G05D1/0022 ,  G05D1/0044 ,  G05D1/024 ,  G05D2201/0217 ,  Y10S901/01

Abstract: A robot and a control method thereof are provided. The method includes the following steps: receiving a manual control command from a remote control device, and accumulating a duration of issuing the manual control commands; estimating an estimated moving velocity corresponding to the manual control command; detecting a surrounding environment of the robot and generating an autonomous navigation command based on the surrounding environment; determining a first weighting value associated with the manual control command based on the duration, the estimated moving velocity and the distance to obstacles; determining a second weighting value associated with the autonomous navigation command based on the first weighting value; linearly combining the manual control command and the autonomous navigation command based on the first weighting value and the second weighting value to generate a moving control command; and moving based on the moving control command.

Abstract translation: 提供了一种机器人及其控制方法。 该方法包括以下步骤：从远程控制设备接收手动控制命令，并累积发出手动控制命令的持续时间; 估计对应于手动控制命令的估计移动速度; 检测机器人的周围环境，并根据周围环境产生自主导航命令; 基于持续时间，估计的移动速度和到障碍物的距离来确定与手动控制命令相关联的第一加权值; 基于所述第一加权值确定与所述自主导航命令相关联的第二加权值; 基于第一加权值和第二加权值线性组合手动控制命令和自主导航命令以产生移动控制命令; 并基于移动控制命令移动。

公开(公告)号：US09352470B1

公开(公告)日：2016-05-31

申请号：US14554951

申请日：2014-11-26

Applicant: Google Inc.

Inventor： Marco da Silva ,  Kevin Blankespoor ,  Michael Rose

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

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.

Abstract translation: 示例性方法可以包括为机器人的身体确定所请求的偏航，其中所述Biped机器人包括经由腿联接到所述身体的脚。 机器人然后可以经由一个或多个传感器检测主体相对于地面的偏转旋转，其中脚与地面接触。 基于检测到的身体的偏转旋转，机器人可以确定身体的测量偏航。 机器人还可以确定身体的目标偏航，其中身体的目标偏航在身体的所测量的偏航和对于身体的所请求的偏航之间。 然后，机器人可以使脚将身体旋转到身体的目标偏航。

公开(公告)号：US20160052574A1

公开(公告)日：2016-02-25

申请号：US14586519

申请日：2014-12-30

Applicant: Google Inc.

Inventor： Alex Khripin ,  Alfred Anthony Rizzi

IPC: B62D57/032

CPC classification number: B25J9/1694 ,  B25J9/1664 ,  B62D57/032 ,  G05B2219/39082 ,  G05B2219/39215 ,  G05B2219/39325 ,  G05D2201/0217 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46

Abstract: A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

公开(公告)号：US08942848B2

公开(公告)日：2015-01-27

申请号：US13543353

申请日：2012-07-06

Applicant: Jerry E. Pratt ,  Twan Koolen ,  John Rebula

Inventor： Jerry E. Pratt ,  Twan Koolen ,  John Rebula

IPC: G05D1/02 ,  B62D57/032 ,  G05D1/08

CPC classification number: G05D1/021 ,  B62D57/032 ,  G05D1/0891 ,  G05D2201/0217

Abstract: A control system for a bipedal humanoid robot that utilizes certain fundamental characteristics of bipedal motion to provide a robust and relatively simple balancing and walking mechanism. The system primarily utilizes the concept of “capturability,” which is defined as the ability of the robot to come to a stop without falling by taking N or fewer steps. This ability is considered crucial to legged locomotion and is a useful, yet not overly restrictive criterion for stability. In the preferred embodiment, the bipedal robot is maintained in a 1-step capturable state. This means that future step-locating and driving decisions are made so that the robot may always be brought to a balanced halt with the taking of one step. Other embodiments maintain the bipedal robot in an N-step capturable state, in which the robot may always be brought to a balanced halt by taking N or fewer steps.

Abstract translation: 一种用于双足类人机器人的控制系统，其利用两足动作的某些基本特征来提供鲁棒且相对简单的平衡和行走机制。 该系统主要利用“可捕获性”的概念，其定义为机器人通过采取N或更少的步骤停止而不摔倒的能力。 这种能力被认为是腿部运动的关键，对稳定性来说是一个有用的，但不是过分限制的标准。 在优选实施例中，双足机器人保持在一步可捕获状态。 这意味着未来的定位和驾驶决策将会使得机器人总是能够采取一个步骤来平衡地停止。 其他实施例将双足机器人保持在N步可捕获状态，其中机器人可以总是通过采取N个或更少的步骤来平衡地停止。