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公开(公告)号：US09751211B1
公开(公告)日：2017-09-05
申请号：US14878175
申请日：2015-10-08
Applicant: Google Inc.
Inventor： John Aaron Saunders , Michael Patrick Murphy
IPC: B25J9/16
CPC classification number: B25J9/1602 , B25J9/1694 , G05B2219/33105 , G05B2219/40304 , Y10S901/46 , Y10S901/50
Abstract: Example implementations may relate a robot part including a processor, at least one sensor, and an interface providing wireless connectivity. The processor may determine that the robot part is removablly connected to a particular robotic system and may responsively obtain identification information to identify the particular robotic system. While the robot part is removablly connected to the particular robotic system, the processor may (i) transmit, to an external computing system, sensor data that the processor received from the at least one sensor and (ii) receive, from the external computing system, environment information (e.g., representing characteristics of an environment in which the particular robotic system is operating) based on interpretation of the sensor data. And based on the identification information and the environment information, the processor may generate a command that causes the particular robotic system to carry out a task in the environment.
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公开(公告)号：US20160288338A1
公开(公告)日：2016-10-06
申请号：US14674406
申请日：2015-03-31
Applicant: Google Inc.
Inventor： Michael Patrick Murphy , Donald Campbell
CPC classification number: B25J19/02 , B25J9/0015 , B25J13/085 , B25J17/00 , G01L1/122 , G01L3/04 , G01L3/1435 , Y10S901/28 , Y10S901/46
Abstract: An example device may include an annular flexure hub including a first stationary head, a second stationary head, a first rotatable head, and a second rotatable head. Each of the heads comprise an annular sector of the flexure hub, and the first and second stationary heads are interleaved between the first and second rotatable heads. The device may also include a stationary housing coupled to the first stationary head and the second stationary head of the flexure hub. The device may also include a first sensor positioned adjacent to the first rotatable head of the flexure hub, and a second sensor positioned adjacent to the second rotatable head of the flexure hub. The device may also include a rotatable housing coupled to the first rotatable head and the second rotatable head of the flexure hub.
Abstract translation: 示例性装置可以包括环形弯曲轮毂，其包括第一静止头部，第二固定头部，第一可旋转头部和第二可旋转头部。 每个头包括弯曲轮毂的环形部分，并且第一和第二固定头在第一和第二旋转头之间交错。 该装置还可以包括联接到第一静止头部和挠曲轮毂的第二固定头部的固定壳体。 该装置还可以包括邻近弯曲轮毂的第一可旋转头部定位的第一传感器，以及邻近弯曲轮毂的第二可旋转头部定位的第二传感器。 该装置还可以包括联接到第一可旋转头部和可弯曲毂的第二可旋转头部的可旋转壳体。
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公开(公告)号：US09937618B2
公开(公告)日：2018-04-10
申请号：US15016729
申请日：2016-02-05
Applicant: Google Inc.
Inventor： John Aaron Saunders , Alex Khripin , Steven Potter , Michael Patrick Murphy , Christopher Everett Thorne
IPC: B25J9/00 , B25J9/12 , B25J3/04 , B25J9/14 , B60W10/04 , B60W10/08 , B62D57/02 , F15B15/08 , B62D57/032 , F15B9/09 , F15B18/00
CPC classification number: B25J9/126 , B25J3/04 , B25J9/144 , B25J9/1602 , B60W10/04 , B60W10/08 , B62D57/02 , B62D57/032 , F15B9/09 , F15B15/088 , F15B18/00 , F15B2211/7135 , F15B2211/78 , Y10S901/01 , Y10S901/22 , Y10S901/23
Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).
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公开(公告)号：US09731416B1
公开(公告)日：2017-08-15
申请号：US14644843
申请日：2015-03-11
Applicant: Google Inc.
IPC: G05B19/04 , G05B19/18 , B25J9/14 , B62D57/032
CPC classification number: B25J9/14 , B25J9/144 , B62D57/032 , F15B15/06 , Y10S901/01 , Y10S901/22
Abstract: An example robot includes a first hydraulic actuator cylinder connecting a first member to a second member, where the first hydraulic actuator cylinder comprises a first piston and a first chamber. A second hydraulic actuator cylinder connects the first member to the second member, where the second hydraulic actuator cylinder comprises a second piston and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller is configured to determine a gait state of the robot, and based on the determined gait state, provide a signal to the valve system.
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公开(公告)号：US09662794B1
公开(公告)日：2017-05-30
申请号：US15359348
申请日：2016-11-22
Applicant: Google Inc.
Inventor： Marc Strauss , Michael Patrick Murphy
CPC classification number: B25J15/12 , B25J9/1065 , B25J13/081 , B25J15/0009 , B25J15/0033 , B25J15/022 , B25J15/10 , Y10S901/37 , Y10S901/39
Abstract: A robotic finger is provided. The robotic finger includes a first member that has a plurality of rigid sections that are rotatably connected end-to-end through respective first joints. The robotic finger also includes a second member that has a plurality of flexible sections that are connected end-to-end at respective second joints. The robotic finger also includes a plurality of linkages connecting the first member and the second member so as to align the plurality of flexible sections with the plurality of rigid sections side-by-side, and a respective linkage connects a respective first joint of the first member to a respective second joint of the second member. The robotic finger further includes a fingertip section that connects a distal end the first member to a distal end of the second member.
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Patent Agency Ranking
公开(公告)号：US09492929B1
公开(公告)日：2016-11-15
申请号：US14932013
申请日：2015-11-04
Applicant: Google Inc.
Inventor： Marc Strauss , Michael Patrick Murphy
CPC classification number: B25J15/08 , B25J13/082 , B25J13/085 , B25J15/0028 , B25J15/0226 , B25J15/10 , F15B15/06 , F15B15/149 , F15B15/20 , F15B15/2807 , Y10S901/37
Abstract: Examples described here include a device that has a housing defining a cavity, and a force sensor. The device also includes a first hydraulic actuator positioned in the cavity, and a second hydraulic actuator positioned in the cavity. The first and second hydraulic actuators move between respectively relaxing modes and thrusting modes along respective longitudinal axes. The longitudinal axis of the first hydraulic actuator is substantially parallel to the longitudinal axis of the second hydraulic actuator. The device also includes a first actuated member coupled to the first hydraulic actuator, and a second actuated member coupled to the second hydraulic actuator.
Abstract translation: 这里描述的示例包括具有限定空腔的壳体和力传感器的装置。 该装置还包括定位在空腔中的第一液压致动器和位于空腔中的第二液压致动器。 第一和第二液压致动器沿着相应的纵轴分别在分别的松弛模式和推进模式之间移动。 第一液压致动器的纵向轴线基本上平行于第二液压致动器的纵向轴线。 该装置还包括联接到第一液压致动器的第一致动构件和联接到第二液压致动器的第二致动构件。
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公开(公告)号：US09651133B2
公开(公告)日：2017-05-16
申请号：US14613427
申请日：2015-02-04
Applicant: Google Inc.
Inventor： Michael Patrick Murphy , Christopher Everett Thorne
CPC classification number: F16H53/08 , F01B9/06 , F15B15/06 , F15B15/1404 , F15B2211/76 , F16H25/14 , F16H53/02
Abstract: The present disclosure relates to a system that uses linear actuators to generate a torque on a shaft. In an example implementation, a system may include a shaft and an attached cam. The cam includes an involute portion. The system also includes a first linear actuator and a second linear actuator configured to move along a first axis and a second axis, respectively. The linear actuators are configured to detachably couple to the cam based on at least a reference angle of the shaft. That is, as the shaft rotates about its rotational axis at the reference angle, the first and the second linear actuators may couple to, and decouple from, various portions of the cam. As the linear actuators couple to, and decouple from, the various portions of the cam, different rotational torques and/or different ranges of such torques may be imparted onto the shaft.
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公开(公告)号：US09981390B1
公开(公告)日：2018-05-29
申请号：US15653601
申请日：2017-07-19
Applicant: Google Inc.
Inventor： Marc Strauss , Michael Patrick Murphy
CPC classification number: B25J15/08 , B25J13/082 , B25J13/085 , B25J15/0028 , B25J15/0226 , B25J15/10 , F15B15/06 , F15B15/149 , F15B15/20 , F15B15/2807 , Y10S901/37
Abstract: Examples described here include a device that has a housing defining a cavity, and a force sensor. The device also includes a first hydraulic actuator positioned in the cavity, and a second hydraulic actuator positioned in the cavity. The first and second hydraulic actuators move between respectively relaxing modes and thrusting modes along respective longitudinal axes. The longitudinal axis of the first hydraulic actuator is substantially parallel to the longitudinal axis of the second hydraulic actuator. The device also includes a first actuated member coupled to the first hydraulic actuator, and a second actuated member coupled to the second hydraulic actuator.
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公开(公告)号：US09486919B1
公开(公告)日：2016-11-08
申请号：US14458365
申请日：2014-08-13
Applicant: Google Inc.
Inventor： Christopher Everett Thorne , Michael Patrick Murphy
CPC classification number: B25J9/1633 , B25J9/104 , B25J9/1075 , B25J9/144 , B25J17/0241
Abstract: Example joints for a robotic device are provided. An example robotic joint may include an upper portion, a lower portion, and a connecting link positioned between the upper portion and the lower portion. The upper portion may be coupled to the connecting link via a first revolute joint, and the lower portion may be coupled to the connecting link via a second revolute joint. The robotic joint may also include an actuator having a first end coupled to the upper portion and a second end coupled to the connecting link, where the actuator is configured to apply a torque to the connecting link. The robotic joint may also include a coupling element configured to transfer the torque applied to the connecting link into a rotational motion of the lower portion about the second revolute joint.
Abstract translation: 提供机器人设备的示例接头。 示例性机器人接头可以包括位于上部和下部之间的上部，下部和连接连杆。 上部可以经由第一旋转接头联接到连接连杆，并且下部可以经由第二旋转接头联接到连接连杆。 机器人接头还可以包括致动器，其具有联接到上部的第一端和联接到连接连杆的第二端，其中致动器构造成向连接连杆施加扭矩。 机器人接头还可以包括耦合元件，其被配置为将施加到连接链节的扭矩传递到下部围绕第二旋转接头的旋转运动。
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公开(公告)号：US09283949B2
公开(公告)日：2016-03-15
申请号：US14449471
申请日：2014-08-01
Applicant: Google Inc.
Inventor： John Aaron Saunders , Alex Khripin , Steven Potter , Michael Patrick Murphy , Christopher Everett Thorne
CPC classification number: B25J9/126 , B25J3/04 , B25J9/144 , B25J9/1602 , B60W10/04 , B60W10/08 , B62D57/02 , B62D57/032 , F15B9/09 , F15B15/088 , F15B18/00 , F15B2211/7135 , F15B2211/78 , Y10S901/01 , Y10S901/22 , Y10S901/23
Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).
Abstract translation: 示例性实施例可以涉及包括液压致动器和耦合到机器人系统的接头的电动致动器的机器人系统。 致动器的操作可以基于诸如基于期望的关节参数的各种因素。 例如，这种所需的关节参数可以包括所需的输出扭矩/关节力，关节的期望输出速度，关节的期望加速度和/或期望的关节角度以及其它可能性。 给定功率模型以及致动器的模型，机器人系统可以确定操作参数，例如液压和电操作参数以及电力系统参数等。 机器人系统然后可以使用所确定的操作参数来控制致动器的操作，以获得期望的关节参数，使得系统中的功率消耗最小化（即，最大化致动效率）。
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