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公开(公告)号：US10606282B2
公开(公告)日：2020-03-31
申请号：US15719847
申请日：2017-09-29
Applicant: DISNEY ENTERPRISES, INC.
Inventor： Gunter D. Niemeyer , Morgan T. Pope
Abstract: A robot configured to provide accurate control over the rate of spin or rotation of the robot. To control the rate of spin, the robot includes an inertia shifting (or moving) assembly positioned within the robot's body so that the robot can land on a surface with a target orientation and “stick the landing” of a gymnastic maneuver. The inertia shifting assembly includes sensors that allow the distance from the landing surface (or height) to be determined and that allow other parameters useful in controlling the robot to be calculated such as present orientation. In one embodiment, the sensors include an inertial measurement unit (IMU) and a laser range finder, and a controller processes their outputs to estimate orientation and angular velocity. The controller selects the right point of the flight to operate a drive mechanism in the inertia shifting assembly to achieve a targeted orientation.
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Patent Agency Ranking
公开(公告)号：US11193736B2
公开(公告)日：2021-12-07
申请号：US16559839
申请日：2019-09-04
Applicant: DISNEY ENTERPRISES, INC.
Inventor： Morgan T. Pope , Brian Orr , Maxime Leboeuf
Abstract: A robot system designed to provide non-invasive mitigation of ballistic safety risks. The robot system includes a robotic device and a safety retention suit, which covers or encloses the movable components or parts of the robotic device. The safety retention suit is formed of a fabric sheet of material chosen, in part, for its flexibility as well as durability to allow the part or the component of the robot enclosed within the suit to move freely. The safety retention suit includes one-to-many strands, threads, or cables of a material chosen to move with the flexible material of the suit when the enclosed component of the robotic device is moving during standard operations. When a mechanical failure occurs, the cables of the suit stretch but, as an overall unit, do not break so as to retain any portions of the covered or enclosed robotic part within the suit.
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公开(公告)号：US11292126B2
公开(公告)日：2022-04-05
申请号：US16655341
申请日：2019-10-17
Applicant: DISNEY ENTERPRISES, INC.
Inventor： David Loyal Christensen , Günter D. Niemeyer , Morgan T. Pope , Matthew A. Estrada , Richard-Alexandre Peloquin
Abstract: A robot system with a robot configured for locomotion about a space using ground reaction force (GRF) to provide a first level of balancing. The robot system includes force generators located on or in the robot's body or offboard in the space that act to generate balancing forces to provide a second level of balancing for the robot using non-conventional physics. Clamping of a robot's feet to a support surface is provided whenever the feet are in contact with the support surface using electromagnets in the feet and a layer of ferrous material on the support surface or using mechanical coupling techniques to temporarily anchor the foot to the support surface. A balance controller processes output of balance sensors and responds by generating control signals to operate force generators onboard the robot such as electric fans or inertial reaction wheels.
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公开(公告)号：US10807244B2
公开(公告)日：2020-10-20
申请号：US15964710
申请日：2018-04-27
Applicant: DISNEY ENTERPRISES, INC.
Inventor： Anthony Paul Dohi , Steven Niels Christensen , Mark Sox Setrakian , David Loyal Christensen , Grant Masaru Imahara , Morgan T. Pope , Scott Frazier Watson , Günter D. Niemeyer
Abstract: Systems and corresponding control methods providing a ballistic robot that flies on a trajectory after being released (e.g., in non-powered flight as a ballistic body) from a launch mechanism. The ballistic robot is adapted to control its position and/or inflight movements by processing data from onboard and offboard sensors and by issuing well-timed control signals to one or more onboard actuators to achieve an inflight controlled motion. The actuators may move an appendage such as an arm or leg of the robot or may alter the configuration of one or more body links (e.g., to change from an untucked configuration to a tucked configuration), while other embodiments may trigger a drive mechanism of an inertia moving assembly to change/move the moment of inertia of the flying body. Inflight controlled movements are performed to achieve a desired or target pose and orientation of the robot during flight and upon landing.
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公开(公告)号：US11104004B2
公开(公告)日：2021-08-31
申请号：US17029952
申请日：2020-09-23
Applicant: DISNEY ENTERPRISES, INC.
Inventor： Anthony Paul Dohi , Steven Niels Christensen , Mark Sox Setrakian , David Loyal Christensen , Grant Masaru Imahara , Morgan T. Pope , Scott Frazier Watson , Günter D. Niemeyer
Abstract: Systems and corresponding control methods providing a ballistic robot that flies on a trajectory after being released (e.g., in non-powered flight as a ballistic body) from a launch mechanism. The ballistic robot is adapted to control its position and/or inflight movements by processing data from onboard and offboard sensors and by issuing well-timed control signals to one or more onboard actuators to achieve an inflight controlled motion. The actuators may move an appendage such as an arm or leg of the robot or may alter the configuration of one or more body links (e.g., to change from an untucked configuration to a tucked configuration), while other embodiments may trigger a drive mechanism of an inertia moving assembly to change/move the moment of inertia of the flying body. In-flight controlled movements are performed to achieve a desired or target pose and orientation of the robot during flight and upon landing.
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公开(公告)号：US10723455B1
公开(公告)日：2020-07-28
申请号：US16558517
申请日：2019-09-03
Applicant: DISNEY ENTERPRISES, INC.
Inventor： Pehr L. Hovey , Madeline R. Zupan , Anthony Paul Dohi , David Loyal Christensen , Jon Hayes Snoddy , Morgan T. Pope
Abstract: An aerial show system that includes unmanned aerial vehicles (UAVs), show systems onboard the UAVs, non-UAV or “ground” show systems, and a global ground control system. The control system is configured to actively track a UAV's operations during a show performance and to react to make the UAV truly a part of the larger show performance. The system achieves dynamic show participation of the UAV with the distributed show systems, which may include other UAVs and non-UAV show systems on the ground but launch or provide effects in the airspace through which the UAV flies. For example, the control system may track a UAV with a show effect element to determine whether the UAV properly hits its cue or mark with respect to position and orientation in the show space and with respect to timing and, in response to location tracking, trigger show effects early, late, or on time.
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