Integrated valve for a legged robot

A rotary valve comprising:

• a sleeve having a plurality of sleeve openings, wherein the plurality of sleeve openings include at least a first opening configured to communicate fluid to and from a high pressure fluid source, a second opening configured to communicate fluid to and from a low pressure fluid reservoir, a third opening configured to communicate fluid to and from a first chamber of a hydraulic actuator, and a fourth opening configured to communicate fluid to and from a second chamber of the hydraulic actuator;
• a first conduit configured to be in hydraulic communication with the first chamber, wherein a first pressure sensor is disposed in the first conduit and configured to measure a pressure level of fluid in the first chamber;
• a second conduit configured to be in hydraulic communication with the second chamber, wherein a second pressure sensor is disposed in the second conduit and configured to measure a pressure level of fluid in the second chamber;
• a spool rotatable within the sleeve, wherein the spool includes a plurality of spool openings respectively corresponding to the plurality of sleeve openings;
• a rotary actuator coupled to the spool and configured to rotate the spool within the sleeve in clockwise and counter-clockwise directions;
• and
• a controller configured to perform operations comprising:
• receiving, from the first pressure sensor and the second pressure sensor, pressure information indicative of the pressure level in the first chamber and the pressure level in the second chamber, respectively, and
• based on the pressure information, providing a signal to the rotary actuator to rotate the spool to one of a plurality of rotary positions, wherein, at each rotary position, a subset of the plurality of spool openings is at least partially aligned with a subset of the plurality of sleeve openings, to hydraulically connect (i) the first chamber to either the high pressure fluid source or the low pressure fluid reservoir, and (ii) the second chamber to either the high pressure fluid source or the low pressure fluid reservoir,
• wherein the third opening of the sleeve is disposed in a first annular groove in the sleeve, wherein the first annular groove is configured to communicate fluid to and from a first work port disposed in a manifold within which the sleeve is disposed, wherein the first work port is hydraulically connected to the first chamber of the hydraulic actuator, and
• wherein the fourth opening of the sleeve is disposed in a second annular groove in the sleeve, wherein the second annular groove is configured to communicate fluid to and from a second work port disposed in the manifold, wherein the second work port is hydraulically connected to the second chamber of the hydraulic actuator.

A rotary valve comprising:

• a sleeve having a plurality of sleeve openings, wherein the plurality of sleeve openings include at least a first opening configured to communicate fluid to and from a high pressure fluid source, a second opening configured to communicate fluid to and from a low pressure fluid reservoir, a third opening configured to communicate fluid to and from a first chamber of a hydraulic actuator, and a fourth opening configured to communicate fluid to and from a second chamber of the hydraulic actuator;
• a first conduit configured to be in hydraulic communication with the first chamber, wherein a first pressure sensor is disposed in the first conduit and configured to measure a pressure level of fluid in the first chamber, the first pressure sensor comprising a strain gauge disposed on a wall of the first conduit;
• a second conduit configured to be in hydraulic communication with the second chamber, wherein a second pressure sensor is disposed in the second conduit and configured to measure a pressure level of fluid in the second chamber;
• a spool rotatable within the sleeve, wherein the spool includes a plurality of spool openings respectively corresponding to the plurality of sleeve openings;
• a rotary actuator coupled to the spool and configured to rotate the spool within the sleeve in clockwise and counter-clockwise directions;
• and
• a controller configured to perform operations comprising:
• receiving, from the first pressure sensor and the second pressure sensor, pressure information indicative of the pressure level in the first chamber and the pressure level in the second chamber, respectively, and
• based on the pressure information, providing a signal to the rotary actuator to rotate the spool to one of a plurality of rotary positions, wherein, at each rotary position, a subset of the plurality of spool openings is at least partially aligned with a subset of the plurality of sleeve openings, to hydraulically connect (i) the first chamber to either the high pressure fluid source or the low pressure fluid reservoir, and (ii) the second chamber to either the high pressure fluid source or the low pressure fluid reservoir.

A rotary valve comprising:

• a sleeve having a plurality of sleeve openings, wherein the plurality of sleeve openings include at least a first opening configured to communicate fluid to and from a high pressure fluid source, a second opening configured to communicate fluid to and from a low pressure fluid reservoir, a third opening configured to communicate fluid to and from a first chamber of a hydraulic actuator, and a fourth opening configured to communicate fluid to and from a second chamber of the hydraulic actuator, wherein the hydraulic actuator is configured to control one or more of position, speed, and force of a movable member of a robot, wherein the movable member is coupled to a base, or another member, of the robot by way of a joint;
• a joint rotary position sensor is coupled to the joint and configured to provide joint rotary position information;
• a first conduit configured to be in hydraulic communication with the first chamber, wherein a first pressure sensor is disposed in the first conduit and configured to measure a pressure level of fluid in the first chamber;
• a second conduit configured to be in hydraulic communication with the second chamber, wherein a second pressure sensor is disposed in the second conduit and configured to measure a pressure level of fluid in the second chamber;
• a spool rotatable within the sleeve, wherein the spool includes a plurality of spool openings respectively corresponding to the plurality of sleeve openings;
• a rotary actuator coupled to the spool and configured to rotate the spool within the sleeve in clockwise and counter-clockwise directions;
• and
• a controller configured to perform operations comprising:
• receiving, from the first pressure sensor and the second pressure sensor, pressure information indicative of the pressure level in the first chamber and the pressure level in the second chamber, respectively, and
• based on the pressure information and the joint rotary position information, providing a signal to the rotary actuator to rotate the spool to one of a plurality of rotary positions, wherein, at each rotary position, a subset of the plurality of spool openings is at least partially aligned with a subset of the plurality of sleeve openings, to hydraulically connect (i) the first chamber to either the high pressure fluid source or the low pressure fluid reservoir, and (ii) the second chamber to either the high pressure fluid source or the low pressure fluid reservoir.