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

IPC: B25J9/16 ,  B25J5/00

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.

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

IPC: G05B19/18 ,  G01L25/00 ,  B25J5/00 ,  B25J9/16

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.

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

IPC: B25J9/16 ,  G01S17/89 ,  B25J13/08 ,  B25J5/00

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.

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

IPC: B25J9/16 ,  B25J13/08 ,  B25J5/00 ,  G01S17/89

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.

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.