X Development LLC

Google Inc.

Justine Rembisz

Philip Mullins

Vincent Nabat

Aaron Ladd Edsinger

Matthew David Day

Christopher Lynn Morey

Alex Shafer

Elmar Mair

Vincent Yves Michel Nabat

Ben Berkowitz

James Lubin

Miguel Rivas

John Tran

Joshua Seal

A mobile robotic device is disclosed which includes a plurality of one-dimensional (1D) time-of-flight (ToF) sensors. Each 1D ToF sensor of the plurality of 1D ToF sensors may be mounted at a fixed position and orientation on the mobile robotic device. Each pair of 1D ToF sensors of the plurality of 1D ToF sensors may be fixed at respective positions and orientations relative to each other such that respective cones of coverage of the pair of 1D ToF sensors are non-overlapping.

Mobile robot sensor configuration

A mobile robotic device includes a mobile base and a mast fixed relative to the mobile base. The mast includes a carved-out portion. The mobile robotic device further includes a three-dimensional (3D) lidar sensor mounted in the carved-out portion of the mast and fixed relative to the mast such that a vertical field of view of the 3D lidar sensor is angled downward toward an are in front of the mobile robotic device.

Robot configuration with three-dimensional lidar

A docking station is provided that includes at least one component configured to couple to a robot and an identification surface. The identification surface includes a first curvature that varies at a first substantially constant rate of change along a first dimension the identification includes a second curvature that varies at a second substantially constant rate of change along a second dimension. The second dimension is orthogonal to the first dimension. The identification surface includes a third curvature that varies at a third substantially constant rate of change along a third dimension. The third dimension is orthogonal to the first dimension and the second dimension.

Robot docking station identification surface

Mobile base for a robot

Mobile robot

Methods, systems, and apparatus, including an apparatus that includes a motorized base configured to move the apparatus; an upper portion coupled to the motorized base; one or more load-sensing devices located between the motorized base and the upper portion, the one or more load-sensing devices being configured to (i) detect forces between the upper portion and the motorized base, and (ii) provide force information based on the detected forces between different portions of the upper portion and the motorized base; and one or more processors performs operations of: obtaining the force information provided by the one or more load-sensing devices; determining a difference between the forces indicated by the force information from the one or more load-sensing devices; determining, based the difference in the forces, a movement to be performed by the apparatus; and providing control information to cause the motorized base to perform the determined movement.

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

An example implementation includes operating a robotic system in an environment. The implementation also includes detecting, using one or more sensors of the robotic system, a surface marker at a first location in the environment. The implementation also includes determining that the detected surface marker indicates the presence of an object having a first surface attribute at the first location, wherein the first surface attribute is one of a plurality of predefined surface attributes. The implementation also includes determining one or more tasks that correspond to the first surface attribute in response to determining that the surface marker indicates the object having the first surface attribute. The implementation also includes causing the robotic system to perform the one or more tasks with respect to the object.

Surface markers and methods for use

An example system includes a robotic arm coupled to a mobile base. The robotic arm includes a plurality of segments coupled via at least one joint, which includes at least one joint angle sensor. The system also includes a controller configured to carry out operations including receiving, from the at least one joint angle sensor, information indicative of a pose of the robotic arm. The operations include, based on the information indicative of the pose of the robotic arm, determining that a torque induced by the robotic arm is above a predetermined torque threshold. The operations also include causing an adjustable support member to extend out of the mobile base in an orientation that counteracts the torque.

Smart kickstand for balancing a mobile robotic arm

In examples, methods and systems for sensing tension in a timing belt are provided. In one example, a transmission device is provided that comprises a timing belt transmission configured to cause rotation of an output hub, and the timing belt transmission includes a timing belt with markings. The transmission device also includes a detector for detecting the markings on the timing belt as the timing belt is placed under a tension due to a load at the output hub, and a distance between the markings on the timing belt changes as the timing belt is placed under the tension. The transmission device also includes one or more processors for determining output torque of the timing belt transmission based on the distance between the markings on the timing belt or based on a time between detected markings.

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San Francisco, CA, United States of America

Justine Rembisz