X Development LLC

Google Inc.

Christopher Lynn Morey

Robert Wilson

Justine Rembisz

Jonathan Souliere

David Youmans

Adam Horton

A robotic device may include a spine defining a yaw axis. The robotic device may also include an arm joint rotatably connected to the spine at a first position along the yaw axis and configured to rotate about the yaw axis. The robotic device may further include an actuator including a ring that defines a bore. The spine may be fixedly connected to the ring at a second position along the yaw axis and may extend through the bore. The actuator may be connected to the arm joint and configured to rotate the arm joint about the yaw axis without rotating the spine.

Independent pan of coaxial robotic arm and perception housing

Systems and methods related to providing configurations of robotic devices are provided. A computing device can receive a configuration request for a robotic device including environmental information and task information for tasks requested to be performed by the robotic device in an environment. The computing device can determine task-associated regions in the environment. A task-associated region for a given task can include a region of the environment that the robotic device is expected to reach while performing the given task. Based at least on the task-associated regions, the computing device can determine respective dimensions of components of the robotic device and an arrangement for assembling the components into the robotic device so that the robotic device is configured to perform at least one task in the environment. The computing device can provide a configuration that includes the respectively determined dimensions and the determined arrangement.

Modular robot design

Holonomic bases, and drive shafts and roller assemblies that can be used in the holonomic bases. In some implementations, a holonomic base includes at least two pairs of roller assemblies, with each of the pairs being coupled to a corresponding drive shaft. In some of those implementations, each of the roller assemblies of each pair includes three roller segments that are each coupled to the corresponding drive shaft and that each include an exposed outward facing spherical zone that approximates a portion of the surface of a sphere. The roller segments of each roller assembly are in fixed relation to one another relative to the rotational axis of a drive shaft to which the roller assembly is coupled, but the roller segments each freely rotate about a corresponding roller segment rotational axis that extends outward from the drive shaft.

Roller assemblies for a holonomic base

Provided herein is a robotic gripper comprising two gripping components, where each component may comprise a rotatable axle oriented along a longitudinal axis, and where the respective axles may be oriented substantially perpendicular to each other. Each component may further comprise a pair of opposing gripping fingers with each gripping finger of the pair being coupled to a respective end of the axle. Each axle may be independently operable to rotate the respective pair of gripping fingers about the longitudinal axis of the respective axle, and each pair of gripping fingers may be independently operable to move the gripping fingers of the respective pair toward and away from each other. A control system for the robotic gripper may thus actuate one or both pairs of gripping fingers to grasp one or more objects.

Robotic gripper with multiple pairs of gripping fingers

An example robotic chassis may include a frame including a first side member and a second side member connected by a transverse member near respective first ends of first side member and the second side member. The robotic chassis may also include a rigid case having a mounting point for a tablet computer. The rigid case may be rotatably coupled between the side members near respective second ends of the side members. The robotic chassis may further include a first arm and a second arm having respective distal ends and respective proximal ends. Respective proximal ends of the first arm and the second arm may be rotatably coupled to the frame near opposite respective first ends of the first side member and the second side member. In addition, the robotic chassis may include a plurality of wheels rotatably coupled to the frame.

Tablet computer-based robotic system

Robotic vehicles and methods described herein relate to robot navigation, physical configuration, and obstacle avoidance. An example robotic vehicle includes a chassis and a sensor coupled to the chassis. Furthermore, the robotic vehicle includes a plurality of multi-wheels coupled to the chassis. As such, each multi-wheel is configured to rotate about a primary axis of rotation. Each multi-wheel includes a plurality of rotatable wheel elements and each rotatable wheel element is configured to rotate about a respective secondary axis of rotation. The robotic vehicle includes an actuator configured to extend or retract at least one rotatable wheel element such that a position of at least one rotatable wheel element is adjustable relative to the primary axis of rotation. Yet further, the robotic vehicle includes a motor configured to drive the rotatable wheel elements about their respective secondary axes of rotation and drive the respective multi-wheels about their primary axes.

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San Francisco, CA, United States of America

Christopher Lynn Morey