Systems and methods for controlling movements of robotic actuators

Patent metadata

Field	Value
Publication number	US-11938628-B2
Application number	US-202117530712-A
Country	US
Kind code	B2
Filing date	Nov 19, 2021
Priority date	Nov 19, 2021
Publication date	Mar 26, 2024
Grant date	Mar 26, 2024

Abstract

An electronic circuit comprises a charge storing component, a set of one or more switching components coupled to the charge storing component, and an additional switching component coupled to each of the one or more switching components in the set. The additional switching component is configured to operate in a first state or a second state based on a received current or voltage. The first state prevents current to flow from the charge storing component to each of the one or more switching components in the set and the second state allows current to flow from the charge storing component to each of the one or more switching components in the set.

First claim

What is claimed is:

1. An electronic circuit comprising:
a charge storing component configured to be charged by a power source;
a set of one or more switching components coupled to the charge storing component; and
an additional switching component coupled to each of the one or more switching components in the set,
wherein the additional switching component is configured to operate in a first state when the power source is providing power and in a second state when the power source is not providing power, the additional switching component configured to receive a current from the charge storing component in the first state to prevent the current to flow from the charge storing component to each of the one or more switching components in the set, and the second state allowing the current to flow from the charge storing component to each of the one or more switching components in the set.

2. The electronic circuit of claim 1 , further comprising a current flow regulating component coupled to the charge storing component.

3. The electronic circuit of claim 2 , further comprising a motor having a plurality of motor windings, each switching component in the set of one or more switching components coupled to a distinct motor winding in the plurality of motor windings.

4. The electronic circuit of claim 3 , wherein when the additional switching component is in the second state, each distinct motor winding in the plurality of motor windings is shorted.

5. The electronic circuit of claim 3 , wherein the motor is operably connected to a robot joint.

6. The electronic circuit of claim 1 , wherein the charge storing component includes one or more capacitors.

7. The electronic circuit of claim 1 , wherein the charge storing component includes a battery.

8. The electronic circuit of claim 2 , wherein the current flow regulating component includes a diode.

9. The electronic circuit of claim 2 , further comprising a resistor coupled to the charge storing component, the resistor located between the charge storing component and the set of one or more switching components.

10. The electronic circuit of claim 1 , wherein the additional switching component includes a solid-state relay.

11. The electronic circuit of claim 1 , wherein the set of one or more switching components includes one or more MOSFETs.

12. The electronic circuit of claim 1 , wherein during operation, when the power source is providing power to the circuit, each switching component in the set of switching components is open and the additional switching component is closed, and when the power source is not providing power to the circuit, each switching component in the set of switching components is closed and the additional switching component is open.

13. The electronic circuit of claim 1 , wherein the additional switching component is configured to:
determine that the circuit has lost power from the power source; and
passively provide power from the charge storing component to the set of one or more switching components in response to determining that the circuit has lost power from the power source.

14. A method comprising:
storing electric charge from a power source in a charge storing component of an electronic circuit, the charge storing component coupled to a current flow regulating component and a set of one or more switching components; and
operating an additional switching component in a first state when the power source is providing power and in a second state when the power source is not providing power, the additional switching component receiving a current from the charge storing component in the first state to prevent the current to flow from the charge storing component to each switching component in the set of one or more switching components, and the second state allowing the current to flow from the charge storing component to each of the one or more switching components in the set.

15. The method of claim 14 , wherein each switching component in the set of one or more switching components is coupled to a distinct motor winding of a motor having a plurality of motor windings.

16. The method of claim 15 , wherein when the additional switching component is in the second state, each motor winding in the plurality of motor windings is shorted.

17. The method of claim 15 , wherein the motor is operably connected to a robot joint.

18. The method of claim 14 , wherein during operation, when the power source is providing power to the circuit, each switching component in the set of switching components is open and the additional switching component is closed, and when the power source is not providing power to the electronic circuit, each switching component in the set of switching components is closed and the additional switching component is open.

19. The method of claim 14 , further comprising:
determining, by the additional switching circuit that the electronic circuit has lost power from the power source; and
switching the additional switching component from the first state to the second state in response to determining that the electronic circuit has lost power from the power source.

20. A mobile robot, comprising:
a plurality of robot joints, each being associated with a motor; and
at least one electronic circuit coupled to each of the plurality of robot joints, wherein the at least one electronic circuit comprises:
a charge storing component configured to be charged by a power source;
a set of one or more switching components coupled to the charge storing component, the set of one or more switching components being further coupled to the motor of at least one of the plurality of robot joints; and
an additional switching component coupled to each of the one or more switching components in the set,
wherein the additional switching component is configured to operate in a first state when the power source is providing power and in a second state when the power source is not providing power, the additional switching component configured to receive a current from the charge storing component in the first state to prevent the current to flow from the charge storing component to each of the one or more switching components in the set, and the second state allowing the current to flow from the charge storing component to each of the one or more switching components in the set.

21. The mobile robot of claim 20 , wherein
the power source is configured to provide power to one or more of the plurality of robot joints,
wherein the set of one or more switching components is coupled to the motor of the at least one of the plurality or robot joints via the power source.

22. The mobile robot of claim 20 , wherein the at least one electronic circuit further comprises:
a current flow regulating component coupled to the charge storing component; and
a resistor coupled between the charge storing component and the set of one or more switching components.

Assignees

• Boston Dynamics Inc

Inventors

• Rogers Kyle

Classifications

• B25J9/12 Primary

  electric · CPC title

• B25J17/00

  Joints · CPC title

• 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

• H02P3/08

  for stopping or slowing a DC motor · CPC title

• H02P29/028 Primary

  the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault · CPC title