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Determining null bias of a hydraulic valve of a robot

  • US 10,052,768 B1
  • Filed: 12/28/2015
  • Issued: 08/21/2018
  • Est. Priority Date: 12/28/2015
  • Status: Active Grant
First Claim
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1. A method comprising:

  • identifying, by a controller of a robot, an operating state at which (i) a velocity of a hydraulic actuator configured to operate a movable member of the robot is less than a threshold velocity, (ii) a force applied, or experienced, by the hydraulic actuator is less than a threshold force, and (iii) a pressure level of hydraulic fluid at a source of pressurized fluid is above a threshold pressure level;

    determining a valve command that corresponds to the operating state, wherein the valve command is provided to a valve configured to control flow to and from the hydraulic actuator, wherein the valve includes a spool movable within a body of the valve, and wherein the valve command causes the spool to move within the body of the valve to a position that induces the operating state; and

    determining a null bias signal based on the valve command, wherein the null bias signal, when provided to the valve, places the spool at a null position at which the spool substantially blocks fluid flow through the body.

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