Robotic systems having protrusions for use in starting positions and in use positions

• US 9,381,961 B1
• Filed: 12/23/2014
• Issued: 07/05/2016
• Est. Priority Date: 09/04/2014
• Status: Expired due to Fees

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Kataoka, Satoshi, Nakanishi, Yuto
• Primary Examiner(s): Edwards, Jerrah
• Assistant Examiner(s): Weber, Tamara
• Application Number:
  US14/582,130
• Time in Patent Office: 560 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Disclosed are robotic systems, methods, bipedal robot devices, and computer-readable mediums. For example, a robotic system may include a robotic body having an axis; a sensor connected to the robotic body, where the sensor is configured to receive information within a scanning area; two or more robotic legs connected to the robotic body, where the two or more robotic legs are configured to operate in a starting position and a use position, where in the starting position the robotic system is substantially stationary; and one or more protrusions connected to the robotic body, where the one or more protrusions extend from the robotic body at a non-perpendicular angle from the axis of the robotic body and are located outside of the scanning area of the sensor, and where in the starting position the one or more protrusions are configured to support the robotic system.

Claims

1. A robotic system comprising:

a robotic body having an axis;

a sensor connected to the robotic body, wherein the sensor is configured to receive information within a scanning area;

two or more robotic legs connected to the robotic body, wherein the two or more robotic legs are configured to operate in a starting position and a use position, wherein in the starting position the robotic system is substantially stationary, and wherein in the use position the two or more robotic legs are configured to move the robotic system in a direction substantially perpendicular to the axis of the robotic body;

one or more protrusions connected to the robotic body, wherein the one or more protrusions extend from the robotic body at a non-perpendicular angle from the axis of the robotic body and are located outside of the scanning area of the sensor, and wherein in the starting position the one or more protrusions are configured to support the robotic system; and

a control system, wherein the control system is configured to (i) make a determination that the robotic system is in the use position and (ii) in response to the determination that the robotic system is in the use position, retract at least one protrusion of the one or more protrusions.

2. The robotic system of claim 1, wherein the robotic body comprises a center of mass, and wherein the one or more protrusions radially extend from the center of mass.

3. The robotic system of claim 1, wherein the one or more protrusions comprise four protrusions.

4. The robotic system of claim 1, wherein at least one protrusion of the one or more protrusions is detachably connected to the robotic body.

5. The robotic system of claim 1, wherein at least one protrusion of the one or more protrusions comprises a first end and a second end, wherein the first end is connected to the robotic body, wherein the first end is located at a first elevation, and wherein the second end is located at a second elevation that is less than the first elevation.

6. The robotic system of claim 1, further comprising one or more second protrusions connected to the robotic body wherein the one or more second protrusions extend from the robotic body at a non-perpendicular angle from the axis of the robotic body and are located outside of the scanning area of the sensor, wherein at least one protrusion of the one or more second protrusions comprises a first end and a second end, wherein the first end is connected to the robotic body, wherein the first end is located at a first elevation, and wherein the second end is located at a second elevation that is greater than the first elevation.

7. The robotic system of claim 1, wherein at least one protrusion of the one or more protrusions comprises a compliant material.

8. The robotic system of claim 1, wherein at least one protrusion of the one or more protrusions comprises a first end and a second end, wherein the first end is connected to the robotic body, and wherein in the use position the second end is configured to receive an external force.

9. The robotic system of claim 1, wherein at least one protrusion of the one or more protrusions comprises a rod and a spring, wherein the rod has a first end and a second end, and wherein the spring is connected to the robotic body and the first end of the rod.

10. The robotic system of claim 9, wherein in the use position the second end of the rod is configured to receive an external force, and wherein in the use position the spring is configured to deform in response to the second end of the rod receiving the external force.

11. The robotic system of claim 1, wherein in the use position at least one protrusion of the one or more protrusions is further configured to retract.

12. The robotic system of claim 1, wherein the one or more protrusions comprises two or more protrusions, and wherein in the use position a first protrusion of the two or more protrusions is further configured to retract at a first time period, and wherein in the use position a second protrusion of the two or more protrusions is further configured to retract at a second time period.

13. The robotic system of claim 1, wherein in the use position at least one protrusion of the one or more protrusions is further configured to retract at a first time period and deploy at a second time period.

14. The robotic system of claim 1, wherein the one or more protrusions comprises two or more protrusions, and wherein in the use position a first protrusion of the one or more protrusions is further configured to retract at a first time period and deploy and at a second time period, and wherein in the use position a second protrusion of the one or more protrusions is further configured to retract a third time period and deploy at a fourth time period.

15. The robotic system of claim 1, wherein in the use position the control system is configured (i) make a determination of an emergency event and (ii) in response to the determination of the emergency event, deploy at least one protrusion of the one or more protrusions.

16. The robotic system of claim 15, wherein the control system is further configured to detect an acceleration of the robotic system, and wherein the determination of the emergency event is based at least in part on the acceleration of the robotic system.

17. The robotic system of claim 15, wherein the control system is further configured to detect an impending crash of the robotic system, and wherein the determination of the emergency event is based at least in part on the impending crash of the robotic system.

18. A robotic system comprising:

one or more processors;

a robotic body having an axis;

a sensor connected to the robotic body, wherein the sensor is configured to receive information within a scanning area;

two or more robotic legs connected to the robotic body, wherein the two or more robotic legs are configured to operate in a starting position and a use position, wherein in the starting position the robotic system is substantially stationary, and wherein in the use position the two or more robotic legs are configured to move the robotic system in a direction substantially perpendicular to the axis of the robotic body;

one or more protrusions connected to the robotic body, wherein the one or more protrusions extend from the robotic body at a non-perpendicular angle from the axis and are located outside of the scanning area of the sensor, and wherein in the starting position the one or more protrusions are configured to support the robotic system; and

a computer-readable medium having stored thereon program instructions that, when executed by the one or more processors, cause the robotic system to perform operations comprising;

determining the robotic system is in the use position,

in response to the determination that the robotic system is in the use position, causing retraction of at least one protrusion of the one or more protrusions at a first time period,

determining an emergency event, and

in response to the determination of the emergency event, causing deployment of the at least one protrusion at a second time period.

19. A method comprising:

determining a robotic system is in a use position, wherein the robotic system comprises;

a robotic body having an axis, two or more robotic legs connected to the robotic body, and one or more protrusions connected to the robotic body, wherein in the use position the two or more robotic legs are configured to move the robotic system in a direction substantially perpendicular to the axis of the robotic body, and wherein the one or more protrusions extend from the robotic body at a non-perpendicular angle from the axis of the robotic body;

in response to determining the robotic system is in the use position, causing retraction of at least one protrusion of the one or more protrusions at a first time period;

determining an emergency event; and

in response to determining the emergency event, causing deployment of the at least one protrusion at a second time period.