Systems and methods for controlling movements of robotic actuators

Patent metadata

Field	Value
Publication number	US-12311543-B2
Application number	US-202418444944-A
Country	US
Kind code	B2
Filing date	Feb 19, 2024
Priority date	Nov 19, 2021
Publication date	May 27, 2025
Grant date	May 27, 2025

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. A control system comprising:
a motor; and
an electronic circuit coupled to the motor, the electronic circuit comprising:
a first switching component coupled to a first winding of the motor, the first switching component configured to short the first winding of the motor in response to receiving a current; and
an additional switching component configured to operate in a first state when a power source is providing power and in a second state when the power source is not providing power, the additional switching component configured to conduct the current in the first state to prevent the current to flow to the first switching component, and the additional switching component configured to not conduct the current in the second state to allow the current to flow to the first switching component.

2. The control system of claim 1 , wherein the electronic circuit further comprises a bank of one or more capacitors configured to output the current.

3. The control system of claim 2 , wherein the electronic circuit further comprises a resistor connected between the bank of one or more capacitors and the first switching component.

4. The control system of claim 2 , wherein the bank of one or more capacitors is configured to be charged by the power source.

5. The control system of claim 4 , wherein the electronic circuit further comprises a diode connected between the power source and the bank of one or more capacitors.

6. The control system of claim 1 , wherein the electronic circuit further comprises a battery configured to output the current.

7. The control system of claim 1 , wherein the motor comprises at least one of a brushless direct current motor or a permanent magnet synchronous motor.

8. The control system of claim 1 , wherein the electronic circuit further comprises a second switching component coupled to a second winding of the motor, the second switching component configured to short the second winding of the motor in response to receiving the current.

9. The control system of claim 8 , wherein the electronic circuit further comprises a third switching component coupled to a third winding of the motor, the third switching component configured to short the third winding of the motor in response to receiving the current.

10. The control system of claim 1 , wherein the motor is operably connected to a joint of a mobile robot.

11. The control system of claim 1 , wherein the motor is operably connected to a joint of a leg of a legged robot.

12. The control system of claim 1 , wherein the additional switching component includes a solid-state relay.

13. The control system of claim 1 , wherein the motor is configured to receive power from the power source.

14. The control system of claim 1 , wherein the first switching component includes a MOSFET.

15. The control system of claim 14 , wherein the MOSFET is an n-channel MOSFET including a source connected to a ground voltage, a drain connected to the first winding of the motor, and a gate that receives the current in the second state.

16. A method of motor control, the method comprising:
providing power to an electronic circuit from a power source, the electronic circuit including a first switching component and an additional switching component;
operating the additional switching component in a first state when the power source is providing power, the additional switching component conducting a current in the first state;
losing power from the power source;
operating the additional switching component in a second state when the power source is not providing power, the additional switching component not conducting the current in the second state to allow the current to flow to the first switching component; and
shorting a first winding of a motor in response to the first switching component receiving the current.

17. The method of claim 16 , further comprising outputting the current from a bank of one or more capacitors.

18. The method of claim 17 , further comprising charging the bank of one or more capacitors using the power source.

19. The method of claim 16 , further comprising outputting the current from a battery.

20. The method of claim 16 , further comprising controlling a joint of a mobile robot using the motor.

21. The method of claim 16 , further comprising controlling a joint of a leg of a legged robot using the motor.

22. A mobile robot, comprising:
a first robot joint;
a first power source;
a first motor operably connected to the first robot joint; and
a first electronic circuit coupled to the first motor, the first electronic circuit comprising:
a first switching component coupled to a first winding of the first motor, the first switching component configured to short the first winding of the first motor in response to receiving a current; and
an additional switching component configured to operate in a first state when the first power source is providing power and in a second state when the first power source is not providing power, the additional switching component configured to conduct the current in the first state to prevent the current to flow to the first switching component, and the additional switching component configured to not conduct the current in the second state to allow the current to flow to the first switching component.

23. The mobile robot of claim 22 , wherein the first electronic circuit further comprises a bank of one or more capacitors configured to output the current.

24. The mobile robot of claim 23 , wherein the bank of one or more capacitors is configured to be charged by the first power source.

25. The mobile robot of claim 22 , wherein the first electronic circuit further comprises a second switching component coupled to a second winding of the first motor, the second switching component configured to short the second winding of the first motor in response to receiving the current.

26. The mobile robot of claim 22 , wherein the first electronic circuit further comprises a battery configured to output the current.

27. The mobile robot of claim 22 , further comprising a first leg including the first joint.

28. The mobile robot of claim 22 , wherein the motor is configured to receive power from the first power source.

29. The mobile robot of claim 22 , further comprising a second robot joint, a second motor operably connected to the second robot joint, and a second electronic circuit coupled to the second motor and configured to short one or more windings of the second motor in response to a power loss.

30. The mobile robot of claim 22 , wherein the first electronic circuit and the first motor are mounted in or near the first robot joint.

Assignees

• Boston Dynamics Inc

Inventors

• Rogers Kyle

Classifications

• H03K17/56

  by the use, as active elements, of semiconductor devices (using diodes H03K17/74) · CPC title

• H02P3/22

  by short-circuit or resistive braking · CPC title

• G05F1/10

  Regulating voltage or current  (G05F1/02 takes precedence) · CPC title

• B25J9/12 Primary

  electric · CPC title

• B25J17/00

  Joints · CPC title