WO2016032773A3 - Natural pitch and roll - Google Patents

Natural pitch and roll Download PDF

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Publication number
WO2016032773A3
WO2016032773A3 PCT/US2015/045253 US2015045253W WO2016032773A3 WO 2016032773 A3 WO2016032773 A3 WO 2016032773A3 US 2015045253 W US2015045253 W US 2015045253W WO 2016032773 A3 WO2016032773 A3 WO 2016032773A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
control system
orientation
measurements
roll
Prior art date
Application number
PCT/US2015/045253
Other languages
French (fr)
Other versions
WO2016032773A2 (en
Inventor
Alex KHRIPIN
Alfred Anthony RIZZI
Original Assignee
Google Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Google Inc. filed Critical Google Inc.
Priority to CN202010181342.3A priority Critical patent/CN111482960B/en
Priority to EP19155331.2A priority patent/EP3498434A1/en
Priority to JP2016572822A priority patent/JP6483730B2/en
Priority to CN201580032432.3A priority patent/CN106660206B/en
Priority to EP15754383.6A priority patent/EP3186041B1/en
Publication of WO2016032773A2 publication Critical patent/WO2016032773A2/en
Publication of WO2016032773A3 publication Critical patent/WO2016032773A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39215—Adaptive control with stabilizing compensation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39325—External force control, additional loop comparing forces corrects position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device

Abstract

A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot (602). The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot (604). The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot (606). Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship (608). Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot (610).
PCT/US2015/045253 2014-08-25 2015-08-14 Natural pitch and roll WO2016032773A2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN202010181342.3A CN111482960B (en) 2014-08-25 2015-08-14 Robot and method for operating the same
EP19155331.2A EP3498434A1 (en) 2014-08-25 2015-08-14 Natural pitch and roll
JP2016572822A JP6483730B2 (en) 2014-08-25 2015-08-14 Method, robot and computer readable medium for obtaining natural pitch and roll
CN201580032432.3A CN106660206B (en) 2014-08-25 2015-08-14 Natural pitch and roll
EP15754383.6A EP3186041B1 (en) 2014-08-25 2015-08-14 Natural pitch and roll

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US201462041281P 2014-08-25 2014-08-25
US62/041,281 2014-08-25
US14/586,519 2014-12-30
US14/586,519 US9517561B2 (en) 2014-08-25 2014-12-30 Natural pitch and roll
US14/659,012 2015-03-16
US14/659,012 US9662792B2 (en) 2014-08-25 2015-03-16 Natural pitch and roll

Publications (2)

Publication Number Publication Date
WO2016032773A2 WO2016032773A2 (en) 2016-03-03
WO2016032773A3 true WO2016032773A3 (en) 2016-07-28

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2015/045253 WO2016032773A2 (en) 2014-08-25 2015-08-14 Natural pitch and roll

Country Status (5)

Country Link
US (6) US9517561B2 (en)
EP (2) EP3498434A1 (en)
JP (4) JP6483730B2 (en)
CN (2) CN106660206B (en)
WO (1) WO2016032773A2 (en)

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