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公开(公告)号：US12251831B2
公开(公告)日：2025-03-18
申请号：US17699534
申请日：2022-03-21
Applicant: Boston Dynamics, Inc.
Inventor： Michael Murphy , Benjamin Zelnick , Malik Hansen , Vadim Chernyak , Christopher Everett Thorne , Alex Perkins
Abstract: A robot includes a mobile base, a turntable rotatably coupled to the mobile base, a robotic arm operatively coupled to the turntable, and at least one directional sensor. An orientation of the at least one directional sensor is independently controllable. A method of controlling a robotic arm includes controlling a state of a mobile base and controlling a state of a robotic arm coupled to the mobile base, based, at least in part, on the state of the mobile base.
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公开(公告)号：US12186919B2
公开(公告)日：2025-01-07
申请号：US17699545
申请日：2022-03-21
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Turpin , Benjamin Zelnick , Michael Murphy , Alex Perkins
Abstract: A perception mast for mobile robot is provided. The mobile robot comprises a mobile base, a turntable operatively coupled to the mobile base, the turntable configured to rotate about a first axis, an arm operatively coupled to a first location on the turntable, and the perception mast operatively coupled to a second location on the turntable, the perception mast configured to rotate about a second axis parallel to the first axis, wherein the perception mast includes disposed thereon, a first perception module and a second perception module arranged between the first imaging module and the turntable.
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公开(公告)号：US20240246623A1
公开(公告)日：2024-07-25
申请号：US18587680
申请日：2024-02-26
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Alex Perkins , Marco da Silva
IPC: B62D57/02 , B25J9/16 , B25J13/08 , B62D57/032
CPC classification number: B62D57/02 , B25J9/1633 , B25J9/1653 , B25J9/1694 , B25J13/08 , B25J13/085 , B62D57/032 , Y10S901/01
Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.
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公开(公告)号：US11836974B2
公开(公告)日：2023-12-05
申请号：US18074354
申请日：2022-12-02
Applicant: Boston Dynamics, Inc.
Inventor： Alex Perkins , Charles DuHadway , Peter Anderson-Sprecher
IPC: G06V20/10 , G06T7/521 , G06T7/13 , G06T7/593 , G06N20/00 , B25J9/16 , G06V10/25 , G06V10/764 , G06V10/80 , G06V10/82 , G06V10/44 , G06V10/20
CPC classification number: G06V20/10 , B25J9/1697 , G06N20/00 , G06T7/13 , G06T7/521 , G06T7/593 , G06V10/25 , G06V10/255 , G06V10/454 , G06V10/764 , G06V10/806 , G06V10/82
Abstract: A method for detecting boxes includes receiving a plurality of image frame pairs for an area of interest including at least one target box. Each image frame pair includes a monocular image frame and a respective depth image frame. For each image frame pair, the method includes determining corners for a rectangle associated with the at least one target box within the respective monocular image frame. Based on the determined corners, the method includes the following: performing edge detection and determining faces within the respective monocular image frame; and extracting planes corresponding to the at least one target box from the respective depth image frame. The method includes matching the determined faces to the extracted planes and generating a box estimation based on the determined corners, the performed edge detection, and the matched faces of the at least one target box.
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公开(公告)号：US11654984B2
公开(公告)日：2023-05-23
申请号：US17158471
申请日：2021-01-26
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Alex Perkins , Marco da Silva
IPC: B62D57/02 , G05D1/02 , B25J13/08 , B62D57/032 , B25J9/16
CPC classification number: B62D57/02 , B25J9/1633 , B25J9/1653 , B25J9/1694 , B25J13/08 , B25J13/085 , B62D57/032 , G05D1/021 , G05D1/027 , Y10S901/01
Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.
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Patent Agency Ranking
公开(公告)号：US20220305680A1
公开(公告)日：2022-09-29
申请号：US17699524
申请日：2022-03-21
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Turpin , Alex Perkins , Michael Murphy , Liam Mulshine , Arash Ushani , Benjamin Zelnick
Abstract: An imaging apparatus includes a structural support rigidly coupled to a surface of a mobile robot and a plurality of perception modules, each of which is arranged on the structural support, has a different field of view, and includes a two-dimensional (2D) camera configured to capture a color image of an environment, a depth sensor configured to capture depth information of one or more objects in the environment, and at least one light source configured to provide illumination to the environment. The imaging apparatus further includes control circuitry configured to control a timing of operation of the 2D camera, the depth sensor, and the at least one light source included in each of the plurality of perception modules, and at least one computer processor configured to process the color image and the depth information to identify at least one characteristic of one or more objects in the environment.
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公开(公告)号：US20210256287A1
公开(公告)日：2021-08-19
申请号：US17246797
申请日：2021-05-03
Applicant: Boston Dynamics, Inc.
Inventor： Alex Perkins , Charles DuHadway , Peter Anderson-Sprecher
Abstract: A method for detecting boxes includes receiving a plurality of image frame pairs for an area of interest including at least one target box. Each image frame pair includes a monocular image frame and a respective depth image frame. For each image frame pair, the method includes determining corners for a rectangle associated with the at least one target box within the respective monocular image frame. Based on the determined corners, the method includes the following: performing edge detection and determining faces within the respective monocular image frame; and extracting planes corresponding to the at least one target box from the respective depth image frame. The method includes matching the determined faces to the extracted planes and generating a box estimation based on the determined corners, the performed edge detection, and the matched faces of the at least one target box.
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公开(公告)号：US12139217B2
公开(公告)日：2024-11-12
申请号：US17581361
申请日：2022-01-21
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Alex Perkins , Marco da Silva
IPC: B62D57/02 , B25J9/16 , B25J13/08 , B62D57/032 , G05D1/00
Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.
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公开(公告)号：US20200306998A1
公开(公告)日：2020-10-01
申请号：US16363326
申请日：2019-03-25
Applicant: Boston Dynamics, Inc.
Inventor： Shervin Talebi , Alex Perkins , Kevin Blankespoor
Abstract: A method for a multi-body controller receives steering commands for a robot to perform a given task. The robot includes an inverted pendulum body, a plurality of joints, an arm coupled to the inverted pendulum body, a leg coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the leg. With the steering commands, the method generates a wheel torque and a wheel axle force to perform the given task. The method includes receiving movement constraints for the robot and manipulation inputs configured to manipulate the arm to perform the given task. For each joint, the method generates a corresponding joint torque having an angular momentum where the joint torque satisfies the movement constraints based on the manipulation inputs, the wheel torque, and the wheel axle force. The method further includes controlling the robot to perform the given task using the joint torques.
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公开(公告)号：US10300969B1
公开(公告)日：2019-05-28
申请号：US15443899
申请日：2017-02-27
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Marco da Silva , Alex Perkins
IPC: G01C22/00 , G05D1/00 , B62D57/02 , B25J9/16 , G05D1/02 , G05B15/00 , G05B19/00 , G06F19/00 , G05B19/04 , G05B19/18
Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.
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