Systems and methods for controlling movements of robotic actuators
AssigneeBoston Dynamics, Inc.
InventorKyle Rogers
Life of this patent
Estimating the term…
Abstract
An electronic circuit comprises a charge storing component, a set of one or more switching components coupled to the charge storing component, and an additional switching component coupled to each of the one or more switching components in the set. The additional switching component is configured to operate in a first state or a second state based on a received current or voltage. The first state prevents current to flow from the charge storing component to each of the one or more switching components in the set and the second state allows current to flow from the charge storing component to each of the one or more switching components in the set.
Claims30
A control system comprising:
- a motor;
- and
- an electronic circuit coupled to the motor, the electronic circuit comprising:
- a first switching component coupled to a first winding of the motor, the first switching component configured to short the first winding of the motor in response to receiving a current;
- and
- an additional switching component configured to operate in a first state when a power source is providing power and in a second state when the power source is not providing power, the additional switching component configured to conduct the current in the first state to prevent the current to flow to the first switching component, and the additional switching component configured to not conduct the current in the second state to allow the current to flow to the first switching component.
A method of motor control, the method comprising:
- providing power to an electronic circuit from a power source, the electronic circuit including a first switching component and an additional switching component;
- operating the additional switching component in a first state when the power source is providing power, the additional switching component conducting a current in the first state;
- losing power from the power source;
- operating the additional switching component in a second state when the power source is not providing power, the additional switching component not conducting the current in the second state to allow the current to flow to the first switching component;
- and
- shorting a first winding of a motor in response to the first switching component receiving the current.
A mobile robot, comprising:
- a first robot joint;
- a first power source;
- a first motor operably connected to the first robot joint;
- and
- a first electronic circuit coupled to the first motor, the first electronic circuit comprising:
- a first switching component coupled to a first winding of the first motor, the first switching component configured to short the first winding of the first motor in response to receiving a current;
- and
- an additional switching component configured to operate in a first state when the first power source is providing power and in a second state when the first power source is not providing power, the additional switching component configured to conduct the current in the first state to prevent the current to flow to the first switching component, and the additional switching component configured to not conduct the current in the second state to allow the current to flow to the first switching component.
Dependencies are inferred from the claim text.