Predictively adjustable hydraulic pressure rails

Patent metadata

Field	Value
Publication number	US-11077898-B2
Application number	US-201715835500-A
Country	US
Kind code	B2
Filing date	Dec 8, 2017
Priority date	Jul 23, 2014
Publication date	Aug 3, 2021
Grant date	Aug 3, 2021

Abstract

A robotic device may traverse a path in a direction of locomotion. Sensor data indicative of one or more physical features of the environment in the direction of locomotion may be received. The implementation may further involve determining that traversing the path involves traversing the one or more physical features of the environment. Based on the sensor data indicative of the one or more physical features of the environment in the direction of locomotion, a hydraulic pressure to supply to the one or more hydraulic actuators to traverse the one or more physical features of the environment may be predicted. Before traversing the one or more physical features of the environment, the hydraulic drive system may adjust pressure of supplied hydraulic fluid from the first pressure to the predicted hydraulic pressure.

First claim

What is claimed is:

1. A method comprising:
causing, by a control system, a robotic device to traverse a path in a direction of locomotion, wherein causing the robotic device to traverse the path comprises causing a hydraulic drive system to supply hydraulic fluid at a first pressure to one or more hydraulic actuators;
receiving sensor data indicative of one or more physical features of the environment in the direction of locomotion;
determining that traversing the path involves traversing the one or more physical features of the environment;
based on the sensor data indicative of the one or more physical features of the environment in the direction of locomotion, predicting a hydraulic pressure to supply to the one or more hydraulic actuators to traverse the one or more physical features of the environment;
estimating a distance between the robotic device and the one or more physical features of the environment;
determining a duration of adjustment to adjust hydraulic pressure from the first pressure to the predicted hydraulic pressure based on the estimated distance; and
before traversing the one or more physical features of the environment, causing the hydraulic drive system to adjust pressure of the supplied hydraulic fluid from the first pressure to the predicted hydraulic pressure such that the hydraulic pressure is adjusted to the predicted hydraulic pressure at approximately the same time that the robotic device encounters the one or more physical features.

2. The method of claim 1 , wherein causing the hydraulic drive system to adjust pressure of the supplied hydraulic fluid from the first pressure to the predicted hydraulic pressure further comprises,
based on a location of the robotic device being the estimated distance from the one or more physical features, determining that the robotic device will arrive at the one or more physical features of the environment in approximately the determined duration of adjustment.

3. The method of claim 1 , wherein predicting the hydraulic pressure to supply to the one or more hydraulic actuators to traverse the one or more physical features of the environment comprises:
based on the data indicative of one or more physical features of the environment, determining that the one or more physical features include a set of stairs; and
responsive to the determination that the one or more physical features include the set of stairs, selecting a predetermined hydraulic pressure for stair-climbing as the predicted hydraulic pressure.

4. The method of claim 1 , wherein predicting the hydraulic pressure to supply to the one or more hydraulic actuators to traverse the one or more physical features of the environment comprises:
based on the data indicative of one or more physical features of the environment, determining that the one or more physical features include an incline;
based on the data indicative of one or more physical features of the environment, estimating a gradient of the incline; and
determining a second hydraulic pressure for the one or more hydraulic actuators to traverse the incline, wherein the determined second hydraulic pressure is in proportion to the gradient of the incline; and
selecting the determined second hydraulic pressure as the predicted hydraulic pressure.

5. The method of claim 1 , wherein predicting the hydraulic pressure to supply to the one or more hydraulic actuators to traverse the one or more physical features of the environment comprises:
based on the data indicative of one or more physical features of the environment, determining that the one or more physical features include uneven terrain;
based on data indicating past load on the one or more hydraulic actuators in traversing uneven terrain, determining a second hydraulic pressure to actuate the past load on the one or more hydraulic actuators; and
responsive to the robotic device traversing the uneven terrain, selecting the determined second hydraulic pressure as the predicted hydraulic pressure.

6. The method of claim 1 , wherein predicting the hydraulic pressure to supply to the one or more hydraulic actuators to traverse the one or more physical features of the environment comprises:
based on the data indicative of one or more physical features of the environment, determining that the one or more physical features include paved terrain; and
responsive to the determination that the one or more physical features include the paved terrain, selecting a predetermined hydraulic pressure for traversing paved terrain as the predicted hydraulic pressure.

7. The method of claim 1 , wherein estimating the distance between the robotic device and the one or more physical features of the environment is based on the received sensor data indicative of the one or more physical features of the environment.

8. The method of claim 1 , further comprising:
determining a magnitude of adjustment between the first pressure and the predicted hydraulic pressure; and
identifying a rate of a pump complex supplying hydraulic fluid to the one or more hydraulic actuators of the hydraulic drive system, and
wherein determining the duration of adjustment is further based on a function of the determined magnitude of adjustment and the identified rate of the pump complex.

Assignees

• Boston Dynamics Inc

Inventors

• Saunders John Aaron
• Murphy Michael
• Potter Steven

Classifications

• B25J9/1612

  characterised by the hand, wrist, grip control · CPC title

• F15B2211/6651

  Control of the prime mover, e.g. control of the output torque or rotational speed · CPC title

• F15B21/001

  Servomotor systems with fluidic control · CPC title

• F15B2211/6336

  representing a state of the output member, e.g. position, speed or acceleration · CPC title

• F15B2211/20523

  Internal combustion engine · CPC title