公开(公告)号：US20240208045A1

公开(公告)日：2024-06-27

申请号：US18594409

申请日：2024-03-04

Applicant: Ghost Robotics Corporation

Inventor： Gavin Kenneally ,  Jiren Parikh

IPC: B25J9/12 ,  B25J13/08 ,  B25J19/00 ,  B62D57/02

CPC classification number: B25J9/12 ,  B25J13/088 ,  B25J19/0025 ,  B62D57/02

Abstract: A legged robot having a frame with a plurality of links in mechanical communication with plurality of brackets, the frame forming a front, back, top, bottom, and sides, legs in mechanical communication with one or more of the plurality of brackets, each leg having a knee motor, an abduction motor, and a hip motor, a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs, and a power module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs and the computer module.

公开(公告)号：US20240269865A1

公开(公告)日：2024-08-15

申请号：US18439041

申请日：2024-02-12

Applicant: Ghost Robotics Corporation

Inventor： Avik De ,  Gavin Kenneally ,  Thomas Turner Topping

IPC: B25J15/00 ,  B25J15/02

CPC classification number: B25J15/0038 ,  B25J15/0206

Abstract: A gripper designed for grasping objects when mounted on a robotic manipulator is disclosed. The robot gripper may utilize a single actuator to facilitate the grasping of objects of varying shape and size with three degrees of freedom of passive alignment, thus enabling said robot gripper to grasp, push and pull. Passive alignment features assist the robot gripper in executing robust and fast grasping of objects with minimal requirement for active feedback control. The mechanical robot gripper jaw is constructed of a compliant material and a curved rigid member to allow the gripper to cage objects.

公开(公告)号：US20240053761A1

公开(公告)日：2024-02-15

申请号：US18231497

申请日：2023-08-08

Applicant: Ghost Robotics Corporation

Inventor： Gavin Kenneally ,  Vinh Q. Nguyen ,  Thomas Turner Topping ,  Avik De

IPC: G05D1/02 ,  B62D57/024 ,  G06T7/50 ,  G06T7/60

CPC classification number: G05D1/0251 ,  B62D57/024 ,  G06T7/50 ,  G06T7/60 ,  G06T2207/10028

Abstract: The present invention pertains to a system method for using depth sensors on the fore, aft and bottom sides of a legged robot for stair climbing. The method uses real-time depth information to help with a legged robot's navigation on a variety of leveled terrains. Sensing methods are employed in addition to generating a composite field of view stretching from the front to the back of the legged robot. Downward facing depth cameras positioned at a particular angle enable the system to guide a legged robot over an environment which is being navigated by offering a persistent view of the environment. Other tools such as heightmap filling gradient map calculation, and strategic foothold selection are also implemented.