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公开(公告)号：US09623556B1
公开(公告)日：2017-04-18
申请号：US14613653
申请日：2015-02-04
Applicant: X Development LLC
Inventor： Junichi Urata , Masaki Hamafuji
CPC classification number: B62D57/032
Abstract: Disclosed are robotic systems, methods, bipedal robot devices, and computer-readable mediums. For example, a robotic system may include a robotic leg connected to a main body and a robotic foot. A robotic sole joint may be connected to the robotic leg, where the robotic sole joint is located at a sole of the robotic foot. The robotic leg and the robotic foot may be movable around an axis of rotation defined by the robotic sole joint. A movement around the axis may cause a ZMP to shift from a first location to a second location in the robotic foot. A measure of force applied by the robotic sole joint around the axis may be approximately equal to zero.
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公开(公告)号：US09821461B1
公开(公告)日：2017-11-21
申请号：US14879794
申请日：2015-10-09
Applicant: X Development LLC
Inventor： Junichi Urata , Yoshito Ito
CPC classification number: B25J9/1674 , B25J5/00 , B25J9/1664 , B62D57/032 , G05B2219/42281 , Y10S901/01
Abstract: An example method includes determining one or more first movements that begin with a robot at a first position, determining one or more second movements that begin with the robot at the first position and end with the robot standing at a second position, making a first prediction of whether one or more motors of the robot executing the one or more first movements would cause a future temperature of any of the one or more motors to exceed a threshold temperature, making a second prediction of whether the one or more motors executing the one or more second movements would cause a future temperature of any of the one or more motors to exceed the threshold temperature, and causing the one or more motors to execute either (i) the one or more first movements or (ii) the one or more second movements.
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公开(公告)号：US09778132B1
公开(公告)日：2017-10-03
申请号：US14971304
申请日：2015-12-16
Applicant: X Development LLC
Inventor： Junichi Urata , Yoshito Ito , Masaki Hamafuji
CPC classification number: G01L25/00 , B25J13/085 , B62D57/032 , Y10S901/01
Abstract: An implementation may involve causing a foot of a robot to orient in a first position, where the foot comprises a sole configured to contact a surface, where the sole comprises a first edge and a second edge, and where in the first position: (i) the first edge contacts the surface, and (ii) a zero moment point (ZMP) is located on the first edge; receiving, from a force sensor, (i) first force data indicative of a first force and (ii) first moment data indicative of a first moment; determining a calibration of the force sensor based at least in part on the first force data, the first moment data, and a distance between the ZMP and a measurement location on the robot; and while the robot is engaged in bipedal movement, controlling the bipedal movement of the robot based at least in part on the calibration.
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公开(公告)号：US09701016B1
公开(公告)日：2017-07-11
申请号：US14822009
申请日：2015-08-10
Applicant: X Development LLC
Inventor： Junichi Urata , Yoshito Ito
CPC classification number: B25J9/1674 , B25J5/00 , B25J9/1664 , B25J19/023 , B25J19/026 , B25J19/027 , G01S15/60 , G01S15/88 , G01S17/50 , G01S17/89 , G05D1/0214 , G05D1/0255 , G05D2201/0217 , Y10S901/01
Abstract: An example method for detecting a movable element on a surface involves receiving, from a depth sensor coupled to a mobile robot, a first depth measurement between the depth sensor and a ground surface. The method also involves causing at least one transducer coupled to the mobile robot to emit a directional pressure wave toward the ground surface. The method further involves receiving, from the depth sensor coupled to the mobile robot, a second depth measurement between the depth sensor and the ground surface after emitting the directional pressure wave. Additionally, the method involves identifying one or more differences between the first depth measurement and the second depth measurement indicating that the ground surface includes a movable element. Further, the method involves providing navigation instructions to the mobile robot based on the identified one or more differences between the first depth measurement and the second depth measurement.
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Patent Agency Ranking
公开(公告)号：US09561829B1
公开(公告)日：2017-02-07
申请号：US14613632
申请日：2015-02-04
Applicant: X Development LLC
Inventor： Junichi Urata , Masaki Hamafuji
IPC: B62D57/032 , B62J11/00 , B62D57/02
CPC classification number: B62D57/032 , B25J13/08 , B25J19/0054 , B62D57/02 , B62D57/022 , B62J11/00 , G06N3/008
Abstract: Disclosed are robotic systems, methods, bipedal robot devices, and computer-readable mediums. For example, a robotic system may include a robotic body, a robotic hip connected to the robotic body, a robotic leg connected to the robotic hip. Further, the robotic system may include a first robotic foot that is connected to one end of the robotic leg and a second robotic foot is connected to an opposite end of the robotic leg. Yet further, the robotic leg may be fully rotatable around an axis of rotation defined by the robotic hip. In addition, the robotic hip may be linearly movable along the robotic leg to one or more positions between the one end of the robotic leg and the opposite end of the robotic leg.
Abstract translation: 公开了机器人系统，方法，双足机器人装置和计算机可读介质。 例如，机器人系统可以包括机器人身体，连接到机器人身体的机器人髋部，连接到机器人髋部的机器人腿。 此外，机器人系统可以包括连接到机器人腿的一端的第一机器人脚，并且第二机器人脚连接到机器人腿的相对端。 此外，机器人腿可以围绕由机器人髋部限定的旋转轴线完全旋转。 此外，机器人髋部可以沿着机器人腿线性地移动到机器人腿的一端和机器人脚的相对端之间的一个或多个位置。
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公开(公告)号：US09994269B1
公开(公告)日：2018-06-12
申请号：US14939087
申请日：2015-11-12
Applicant: X Development LLC
Inventor： Junichi Urata , Yoshito Ito
IPC: B62D57/02 , B62D57/032
CPC classification number: B62D57/032 , Y10S901/01
Abstract: Example embodiments relate to a foot for a walking robot. An example foot includes a central portion including a first surface and at least one foot extension including at least one respective first surface parallel to the first surface of the central portion. The foot additionally includes at least one hinge component that is configured to rotate the at least one foot extension away from the central portion when at least one respective second surface of the at least one foot extension is contacted. The foot also includes at least one spring component configured to cause the at least one hinge component to rotate the at least one foot extension toward the central portion until the at least one respective first surface is parallel to the first surface of the central portion when the at least one respective second surface is no longer contacted.
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公开(公告)号：US09545720B1
公开(公告)日：2017-01-17
申请号：US15012091
申请日：2016-02-01
Applicant: X Development LLC
Inventor： Nobuyuki Ito , Junichi Urata
CPC classification number: B25J9/1674 , B25J5/00 , B25J9/1676 , G05D1/0072 , G05D1/0225 , Y10S901/01 , Y10S901/02
Abstract: The present application discloses implementations that involve shutdowns of a robotic system. An example may include controlling, by a robotic system, a plurality of motors of the robotic system with a central processing unit (CPU). The example may also include determining, by the robotic system, an error condition of the robotic system, where the error condition prevents the CPU from controlling at least one of the plurality of motors. The example may also include causing a plurality of motor driver boards to control the plurality of motors of the robotic system in response to determining the error condition of the robotic system. The example may also include receiving, by the plurality of motors, one or more commands from the plurality of motor driver boards to move the robotic system to a stationary position and park the robotic system in the stationary position.
Abstract translation: 本申请公开了涉及机器人系统关闭的实施方式。 一个示例可以包括通过机器人系统用中央处理单元（CPU）来控制机器人系统的多个马达。 该示例还可以包括由机器人系统确定机器人系统的错误状况，其中错误状况阻止CPU控制多个电动机中的至少一个。 该示例还可以包括使得多个电机驱动器板响应于确定机器人系统的错误状况来控制机器人系统的多个电动机。 该示例还可以包括由多个电动机接收来自多个电机驱动器板的一个或多个命令以将机器人系统移动到静止位置，并将机器人系统停放在静止位置。
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公开(公告)号：US20170274529A1
公开(公告)日：2017-09-28
申请号：US15618822
申请日：2017-06-09
Applicant: X Development LLC
Inventor： Junichi Urata , Yoshito Ito
CPC classification number: B25J9/1674 , B25J5/00 , B25J9/1664 , B25J19/023 , B25J19/026 , B25J19/027 , G01S15/60 , G01S15/88 , G01S17/50 , G01S17/89 , G05D1/0214 , G05D1/0255 , G05D2201/0217 , Y10S901/01
Abstract: An example method for detecting a movable element on a surface involves receiving, from a depth sensor coupled to a mobile robot, a first depth measurement between the depth sensor and a ground surface. The method also involves causing at least one transducer coupled to the mobile robot to emit a directional pressure wave toward the ground surface. The method further involves receiving, from the depth sensor coupled to the mobile robot, a second depth measurement between the depth sensor and the ground surface after emitting the directional pressure wave. Additionally, the method involves identifying one or more differences between the first depth measurement and the second depth measurement indicating that the ground surface includes a movable element. Further, the method involves providing navigation instructions to the mobile robot based on the identified one or more differences between the first depth measurement and the second depth measurement.
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公开(公告)号：US09555547B1
公开(公告)日：2017-01-31
申请号：US14989898
申请日：2016-01-07
Applicant: X Development LLC
Inventor： Nobuyuki Ito , Junichi Urata , Koichi Nishiwaki
CPC classification number: B25J9/1694 , B25J9/161 , B25J9/1664 , G05B19/21 , G05B2219/37175 , G05B2219/41422 , G05F1/66 , Y10S901/02 , Y10S901/28 , Y10S901/46
Abstract: A robotic system may include an incremental encoder coupled to a joint of the system. The robotic system may include a memory configured to store representations of angular positions of the joint. The robotic system may include a motor coupled to the joint, where rotation of the joint while the motor is powered off (i) causes rotation of the motor such that electric power is generated, and (ii) updates the angular position of the joint. The robotic system may use the electric power to power on the incremental encoder and the memory while the robotic system is powered off. One or more processors may obtain, when the robotic system powers on after being powered off, the updated angular position of the joint from the memory, where the incremental encoder provides the updated angular position to the memory while the robotic system is powered off.
Abstract translation: 机器人系统可以包括耦合到系统的接头的增量编码器。 机器人系统可以包括被配置为存储关节的角位置的表示的存储器。 机器人系统可以包括耦合到接头的电动机，其中在电动机断电时接头的旋转（i）引起电动机的旋转，使得产生电力，并且（ii）更新接头的角位置。 机器人系统可以在机器人系统断电时使用电力对增量式编码器和存储器供电。 当机器人系统在断电之后接通时，一个或多个处理器可以获得来自存储器的关节的更新的角位置，其中增量编码器在机器人系统断电时将更新的角位置提供给存储器。
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