X Development LLC

Google Inc.

Ben Berkowitz

Jeffrey Bingham

Benjamin Holson

Seth Gilbertson

Marc D Strauss

Matthew David Day

Justine Rembisz

Vincent Nabat

Joshua Seal

Gregory Katz

Methods, apparatus, and computer readable media applicable to balancing robots. Some implementations are directed to maintaining a given end effector pose (relative to a world frame) of an end effector of a balancing robot when there is a disturbance to a balancing base of the balancing robot. Some implementations are additionally or alternatively directed to transitioning a balancing robot from a fallen configuration to a balanced configuration. Some implementations are additionally or alternatively directed to mitigating the risk that a balancing robot will fall when interacting with actuable environmental objects (e.g., doors) and/or to lessen the disturbance to a balancing base when interacting with actuable environmental objects.

Robot control

A device is provided. The device includes a worm drive comprising a worm and a worm gear. The device also includes an actuator comprising a motor, a shaft, and the worm, wherein the shaft is configured to rotate about a shaft axis, and the actuator is configured to (i) drive the worm drive, and (ii) move linearly along the shaft axis. The device also includes a first spring and a second spring, wherein the second ends are fixed, and wherein the first and second springs are configured to resist movement of the actuator along the shaft axis in opposite directions as a result of forces transmitted through the worm drive. The device further includes a linear position encoder configured to determine a position of the actuator along the shaft axis.

Grounded SEA actuator

Methods, apparatus, and computer readable media applicable to robots, such as balancing robots. Some implementations are directed to determining multiple measures of a property of a robot for a given time and determining a final measure of the property of the robot for the given time based on the multiple measures. One or more control commands may be generated based on the final measure of the property and provided to one or more actuators of the robot.

Sensor fusion

Mobile robot

Robot arm

An example implementation includes a robotic system including a first wheel and a second wheel configured to rotate about a first axis. Each wheel of the first wheel and the second wheel includes a contact surface and a motor coupled to a rotatable component. Each motor is configured to rotate the rotatable component about a respective second axis. The rotatable component is frictionally engaged with the contact surface such that a rotation of the rotatable component about the respective second axis is translated to a rotation of the wheel about the first axis. The robotic system further includes a controller configured to operate the motor of the first wheel and the motor of the second wheel in order to cause the robotic system to maintain its balance and navigate within an environment based on data received from one or more sensors.

Friction drive system and methods for use

An example system includes a transmission having a first plurality of gears and an extent of backlash. The system also includes a first motor connected to an input shaft of the transmission and a second motor connected to an output shaft of the transmission through a second plurality of gears. A first gear ratio of a first plurality of gears is greater than a second gear ratio of the second plurality of gears. The system may receive a command to change a direction of rotation of the output shaft from a first direction to a second direction. In response to the received command, the first motor may drive the transmission through a first portion of the extent of backlash deadband. The second motor may drive the transmission through a second portion of the extent of backlash deadband. The second portion may be greater than the first portion.

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San Francisco, CA, United States of America

Ben Berkowitz