Hydraulic pressure variation in a legged robot

Patent metadata

Field	Value
Publication number	US-10145392-B2
Application number	US-201715493462-A
Country	US
Kind code	B2
Filing date	Apr 21, 2017
Priority date	Sep 25, 2015
Publication date	Dec 4, 2018
Grant date	Dec 4, 2018

Abstract

An example robot includes movable members, a hydraulic system including at least (i) hydraulic actuators configured to operate the movable members, and (ii) a source of hydraulic fluid, and a controller. The controller may be configured to: determine a task to be performed by the robot, where the task includes a plurality of phases; cause hydraulic fluid having a first pressure level to flow from the source to the hydraulic actuators for the robot to perform a first phase of the plurality of phases of the task; based on a second phase of the task, determine a second pressure level for the hydraulic fluid; and adjust, based on the second pressure level, operation of the hydraulic system before the robot begins the second phase of the task.

First claim

What is claimed is:

1. A method comprising:
determining a task to be performed by a robot, wherein the robot includes one or more movable members and a hydraulic system, wherein the hydraulic system includes at least (i) one or more hydraulic actuators configured to operate the one or more movable members, and (ii) a source of hydraulic fluid;
determining an anticipated pressure level for the task;
causing hydraulic fluid having the anticipated pressure level to flow from the source to the one or more hydraulic actuators for the robot to perform the task;
receiving, from one or more sensors coupled to the robot, information indicating that a disturbance to the robot is about to occur;
based on the information, determining a modified pressure level for the hydraulic fluid; and
prior to occurrence of the disturbance, adjusting operation of the hydraulic system to cause hydraulic fluid having the modified pressure level to flow from the source to the one or more hydraulic actuators for the robot.

2. The method of claim 1 , further comprising:
upon the robot recovering from the disturbance, adjusting operation of the hydraulic system based on the anticipated pressure level of the task during which the disturbance occurred.

3. The method of claim 1 , wherein the source is an accumulator configured to store the hydraulic fluid, wherein the hydraulic system further comprises a pump, wherein the modified pressure level is higher than the anticipated pressure level, and wherein adjusting operation of the hydraulic system comprises:
causing the pump to provide pressurized hydraulic fluid to the accumulator until the hydraulic fluid in the accumulator has a pressure level within a threshold pressure value from the modified pressure level.

4. The method of claim 3 , wherein causing the pump to provide the pressurized fluid to the accumulator comprises:
causing the pump to start providing the pressurized fluid to the accumulator at a predefined period of time prior to occurrence of the disturbance.

5. The method of claim 4 , wherein causing the pump to start providing the pressurized fluid to the accumulator at the predefined period of time prior to occurrence of the disturbance involves the pressure level reaching the threshold pressure value from the modified pressure level over a period of time less than or equal to the predefined period of time.

6. A robot comprising:
one or more movable members;
one or more sensors coupled to the robot and configured to provide information associated with an environment of the robot;
a hydraulic system comprising at least (i) one or more hydraulic actuators configured to operate the one or more movable members, and (ii) a source of hydraulic fluid; and
a controller configured to perform operations comprising:
determining a task to be performed by the robot
determining a first pressure level for the task;
causing hydraulic fluid having the first pressure level to flow from the source to the one or more hydraulic actuators for the robot to perform the task;
receiving, from one or more sensors coupled to the robot, information indicating that a disturbance to the robot is about to occur;
based on the information, determining a second pressure level for the hydraulic fluid; and
prior to occurrence of the disturbance, adjusting operation of the hydraulic system to cause hydraulic fluid having the second pressure level to flow from the source to the one or more hydraulic actuators for the robot.

7. The robot of claim 6 , wherein the operations further comprise:
upon the robot recovering from the disturbance, adjusting operation of the hydraulic system based on the first pressure level of the task during which the disturbance occurred.

8. The robot of claim 7 , wherein adjusting operation of the hydraulic system based on the first pressure level of the task comprises reducing pressure level from the second pressure level to the first pressure level.

9. The robot of claim 8 , wherein the source is an accumulator configured to store the hydraulic fluid, wherein the hydraulic system further comprises a pump configured to provide pressurized hydraulic fluid to the accumulator, and wherein reducing the pressure level comprises:
causing the pump to stop providing the hydraulic fluid to the accumulator at least until the pressure level of the hydraulic fluid in the accumulator is within a threshold pressure value from the first pressure level.

10. The robot of claim 8 , wherein the hydraulic system further comprises (i) a reservoir containing hydraulic fluid having a given pressure level lower than a pressure level of the hydraulic fluid of the source, and (ii) a dump valve, and wherein reducing the pressure level comprises:
actuating the dump valve until the pressure level of the hydraulic fluid of the source is within a threshold pressure value from the first pressure level.

11. The robot of claim 6 , wherein the source is an accumulator configured to store the hydraulic fluid, wherein the hydraulic system further comprises a pump, wherein the second pressure level is higher than the first pressure level, and wherein adjusting operation of the hydraulic system comprises:
causing the pump to provide pressurized hydraulic fluid to the accumulator until the hydraulic fluid in the accumulator has a pressure level within a threshold pressure value from the second pressure level.

12. The robot of claim 11 , wherein causing the pump to provide the pressurized fluid to the accumulator comprises:
causing the pump to start providing the pressurized fluid to the accumulator at a predefined period of time prior to occurrence of the disturbance.

13. The robot of claim 12 , wherein causing the pump to start providing the pressurized fluid to the accumulator at the predefined period of time prior to occurrence of the disturbance involves the pressure level reaching the threshold pressure value from the second pressure level over a period of time less than or equal to the predefined period of time.

14. A non-transitory computer readable medium having stored thereon instructions that, when executed by a controller of a robot, cause the robot to perform operations comprising:
determining a task to be performed by a robot, wherein the robot includes one or more movable members and a hydraulic system, wherein the hydraulic system includes at least (i) one or more hydraulic actuators configured to operate the one or more movable members, and (ii) a source of hydraulic fluid;
determining a first pressure level for the task;
causing hydraulic fluid having the first pressure level to flow from the source to the one or more hydraulic actuators for the robot to perform the task;
receiving, from one or more sensors coupled to the robot, information indicating that a disturbance to the robot is about to occur;
based on the information, determining a second pressure level for the hydraulic fluid; and
prior to occurrence of the disturbance, adjusting operation of the hydraulic system to cause hydraulic fluid having the second pressure level to flow from the source to the one or more hydraulic actuators for the robot.

15. The non-transitory computer readable medium of claim 14 , wherein the operations further comprise:
upon the robot recovering from the disturbance, adjusting operation of the hydraulic system based on the first pressure level of the task during which the disturbance occurred.

16. The non-transitory computer readable medium of claim 15 , wherein adjusting operation of the hydraulic system based on the first pressure level of the task comprises reducing pr

Assignees

• Boston Dynamics Inc

Inventors

• Jackowski Zachary John
• Khripin Alex Yu
• Rizzi Alfred Anthony

Classifications

• B62D57/032

  with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) · CPC title

• Y10S901/02

  Arm motion controller · CPC title

• F15B2211/7142

  the output members being arranged in multiple groups · CPC title

• F15B2211/20515

  Electric motor · CPC title

• F15B2211/20538

  constant capacity · CPC title