The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 24, 2016
Filed:
Jun. 02, 2014
Google Inc., Mountain View, CA (US);
Andy Metzger, Oakland, CA (US);
Lee Magnusson, Mountain View, CA (US);
Google Inc., Mountain View, CA (US);
Abstract
Robotic devices with multi-degree of freedom (DOF) load cells for shear beam sensing are described. An example robotic device includes actuators coupled through joints to form a robotic manipulator, and a load cell provided proximal to a joint for detecting a force applied to the robotic manipulator and a torque experienced about the joint. The device also includes a controller programmable to determine a location of the force along the robotic manipulator based on values of the force and the torque output from the load cell, receive information indicating parameters of the robotic manipulator and of a load being experienced by the robotic device, and based on one of the force applied to the robotic manipulator or the torque experienced about the joint being above a threshold expected amount due to the load being experienced, determine that the robotic manipulator is experiencing an unexpected shear load at the location.