Abstract: An example method includes determining a plurality of candidate support regions for a support member of a robotic device. The method also includes determining a support region score (SRS) for each candidate support region, wherein the SRS for a given candidate support region depends on a surface geometry of the given candidate support region. The method additionally includes determining an adjacent relation scores (ARS) for each candidate support region, wherein the ARS for a particular candidate support region is based at least on a plurality of SRSs of a plurality of support regions surrounding the particular candidate support region. Based on the determined SRSs and the determined ARSs, the method further includes selecting at least one support region from the plurality of candidate support regions and providing instructions for the robotic device to place the support member on the at least one selected support region.

Abstract: A system includes a primary Printed Circuit Board (PCB) and a heat transfer device that is attached to the primary PCB. The primary PCB includes a heat generating device and a thermal conductive inlay attached to the heat generating device. The heat transfer device includes a secondary PCB that is thermally coupled to the primary PCB, and a heat dissipation block. The heat dissipation block has a first side attached to the thermal conductive inlay of the primary PCB and a second side attached to the secondary PCB.

Abstract: An example implementation may involve receiving, by a robot comprising a first foot and a second foot, sensor data indicating that a force has been applied to a top surface of the first foot. The robot may have a trajectory, and the sensor data may be received from a sensor positioned on the top surface of the first foot. In response to receiving the sensor data, the robot may determine an updated trajectory for the robot and cause the second foot to swing such that the robot moves according to the updated trajectory.

Abstract: An example implementation may involve a robot foot having a bottom surface and an edge portion extending around at least a portion of a perimeter of the foot, where the edge portion meets the bottom surface at the perimeter, where the edge portion surrounds a volume extending from the bottom surface of the foot to a top surface of the edge portion, and where the edge portion of the foot is composed of a first material. The foot may also include an interior portion located adjacent to the edge portion, where the interior portion of the foot fills the volume, and where the interior portion is composed of a second material that is more compliant than the first material.

Abstract: The structure for detecting tooth-skipping of the speed reducer of the rotary driver is reduced in weight and size. In the rotary driver the occurrence of tooth-skipping is detected based on the difference in outputs from the encoders located at the input side (the side of the motor) and at the output side (the side of the load), which is opposite the input side in relation to the speed reducer.

Abstract: A system includes a primary Printed Circuit Board (PCB) and a heat transfer device that is attached to the primary PCB. The primary PCB includes a heat generating device and a thermal conductive inlay attached to the heat generating device. The heat transfer device includes a secondary PCB that is thermally coupled to the primary PCB, and a heat dissipation block. The heat dissipation block has a first side attached to the thermal conductive inlay of the primary PCB and a second side attached to the secondary PCB.

Abstract: Example implementations may relate to methods and systems for disturbing or deceiving sensors of robotic devices. Accordingly, a computing system may detect that a robotic device has entered a particular physical region. Responsively, the computing system may then determine at least one type of sensor that is associated with the robotic device and is used to detect reflected illumination that is reflected from an object. Based on the determined at least one type of sensor, the computing system may then select (i) at least one particular type of disturbing illumination and (ii) a target location within the particular physical region. Upon the selection, the computing system may direct at least one light source to emit the selected at least one particular type of disturbing illumination towards the selected target location so as to disturb the reflected illumination detectable by the robotic device using the at least one type of sensor.

Abstract: Example embodiments relate to a foot for a walking robot. An example foot includes a central portion including a first surface and at least one foot extension including at least one respective first surface parallel to the first surface of the central portion. The foot additionally includes at least one hinge component that is configured to rotate the at least one foot extension away from the central portion when at least one respective second surface of the at least one foot extension is contacted. The foot also includes at least one spring component configured to cause the at least one hinge component to rotate the at least one foot extension toward the central portion until the at least one respective first surface is parallel to the first surface of the central portion when the at least one respective second surface is no longer contacted.

Abstract: A robotic system may include an incremental encoder coupled to a joint of the system. The robotic system may include a memory configured to store representations of angular positions of the joint. The robotic system may include a motor coupled to the joint, where rotation of the joint while the motor is powered off (i) causes rotation of the motor such that electric power is generated, and (ii) updates the angular position of the joint. The robotic system may use the electric power to power on the incremental encoder and the memory while the robotic system is powered off. One or more processors may obtain, when the robotic system powers on after being powered off, the updated angular position of the joint from the memory, where the incremental encoder provides the updated angular position to the memory while the robotic system is powered off.

Abstract: To suppress a decline in the control accuracy of an applied voltage associated with an increase in quantum noise, and to increase the control accuracy of a motor speed. When generating a driving voltage signal supplied to a motor from a driving command signal, a motor-driving voltage control device reduces the gradation level and performs noise-shaping modulation before performing PWM modulation. Reducing the gradation level allows the degree of gradation of the driving voltage signal to be within the resolution range of the PWM modulation, and thus PWM modulation can be performed even when the driving voltage signal has a high frequency. Noise-shaping modulation reduces the level of quantum noise near the low frequency range by causing the quantum noise due to digitization, included in the driving voltage signal, to be biased toward the high frequency range side.

Abstract: Example embodiments relate to a robotic device with at least two legs. Each leg includes a foot including a first sole and a second sole perpendicular to the first sole. Each leg additionally includes an ankle joint configured to rotate the foot from a first position in which the first sole is contacting a ground surface to a second position in which the second sole is contacting the ground surface. The robotic device includes a control system. When the foot of a given leg of the at least two legs is in the first position, the control system may determine to cause the foot of the given leg to switch from the first position to the second position, and may cause the ankle joint of the given leg to rotate the foot of the given leg from the first position to the second position.

Abstract: A water-cooled housing (100) comprises: a tubular passage section (20) which has a plurality of partition walls erected in the direction of the central axis at a prescribed angular interval on a substantially cylindrical inner wall to form a plurality of outward passages and a plurality of inward passages extending parallel to each other along the central axis between the plurality of partition walls and the outer peripheral surface of a motor (40); a first cover section (10) which closes a first opening of the tubular passage section (20) while having a plurality of returning passages that connects inward passages to next outward passages; a second cover section (30) which closes a second opening of the tubular passage section (20) while having a plurality of returning passages that connects outward passages to next inward passages; a water supply section (16a) which is provided on the first cover section (10) and connected to the entrance of a first outward passage; and a water drain section (17a) which is

Abstract: The structure for detecting tooth-skipping of the speed reducer of the rotary driver is reduced in weight and size. In the rotary driver the occurrence of tooth-skipping is detected based on the difference in outputs from the encoders located at the input side (the side of the motor) and at the output side (the side of the load), which is opposite the input side in relation to the speed reducer.

Abstract: To suppress a decline in the control accuracy of an applied voltage associated with an increase in quantum noise, and to increase the control accuracy of a motor speed. When generating a driving voltage signal supplied to a motor from a driving command signal, a motor-driving voltage control device reduces the gradation level and performs noise-shaping modulation before performing PWM modulation. Reducing the gradation level allows the degree of gradation of the driving voltage signal to be within the resolution range of the PWM modulation, and thus PWM modulation can be performed even when the driving voltage signal has a high frequency. Noise-shaping modulation reduces the level of quantum noise near the low frequency range by causing the quantum noise due to digitization, included in the driving voltage signal, to be biased toward the high frequency range side.