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    Discretized Valve State Control For Multi-Level Hydraulic Systems
    11.
    发明申请
    Discretized Valve State Control For Multi-Level Hydraulic Systems 审中-公开

    公开(公告)号：US20190226503A1

    公开(公告)日：2019-07-25

    申请号：US16371488

    申请日：2019-04-01

    Applicant: Boston Dynamics, Inc.

    Inventor： Michael Murphy ,  John Aaron Saunders ,  Steven D. Potter

    IPC: F15B11/18 ,  B25J9/20 ,  G05D1/02 ,  B25J9/14 ,  F15B11/16 ,  G05D16/20 ,  F15B11/17

    Abstract: An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.

    Electrorheological valve
    12.
    发明授权
    Electrorheological valve 有权

    公开(公告)号：US10352481B2

    公开(公告)日：2019-07-16

    申请号：US15444975

    申请日：2017-02-28

    Applicant: Boston Dynamics, Inc.

    Inventor： Michael Murphy ,  Robert Playter

    IPC: F15C1/04 ,  F16K99/00 ,  F15B21/06 ,  F16K13/10 ,  F16K31/02 ,  G05D7/06

    Abstract: An ER fluid valve includes a housing and a plurality of parallel flow passages through the housing each defined by spaced electrodes at least one of which is controllable independently of other flow passages electrodes. A controller is configured to selectively establish electrical fields for all of the independently controllable electrodes to close all of the flow passages to ER fluid flowing through the housing. By removing the fields from all of the independently controllable electrodes, all the flow passages are open to the ER fluid flowing through the housing. By establishing fields for select independently controllable electrodes to close their associated flow passages and by leaving other flow passages open, restricted flow of the ER fluid through the housing is accomplished to vary the flow rate through the housing.

    ACCESSORY INTERFACES FOR A MOBILE MANIPULATOR ROBOT
    15.
    发明公开
    ACCESSORY INTERFACES FOR A MOBILE MANIPULATOR ROBOT 审中-公开

    公开(公告)号：US20230182329A1

    公开(公告)日：2023-06-15

    申请号：US18070759

    申请日：2022-11-29

    Applicant: Boston Dynamics, Inc.

    Inventor： Guillermo Diaz-Lankenau ,  Michael Murphy

    IPC: B25J19/06 ,  B25J9/00 ,  B25J19/02

    CPC classification number: B25J19/065 ,  B25J9/0009 ,  B25J9/0093 ,  B25J19/02

    Abstract: Consistent connection strategies for coupling accessories to a robot can help achieve certain objectives, e.g., to tolerate and correct misalignment during coupling of the accessory. In some embodiments, the connection strategy may enable certain accessories to connect to certain sides of a robot. When connected, an accessory may be rigid in yaw, lateral motion, and fore/aft motion, while remaining unconstrained in roll and pitch as well as vertical motion. A sensor may enable detection of the accessory, and a mechanical fuse may release the accessory when a force threshold is exceeded. A mechanical coupler of an accessory may include two connectors, each of which includes a receiving area configured to receive a pin on the robot and a latch configured to retain the pin within the receiving area. The pins (and the receiving areas) may be differently sized, and may be differently arranged.

    Perception mast for an integrated mobile manipulator robot
    18.
    发明授权
    Perception mast for an integrated mobile manipulator robot 有权

    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

    IPC: B25J9/16 ,  B25J5/00 ,  B25J13/08

    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.

    PERCEPTION MODULE FOR A MOBILE MANIPULATOR ROBOT
    19.
    发明申请
    PERCEPTION MODULE FOR A MOBILE MANIPULATOR ROBOT 有权

    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

    IPC: B25J19/02 ,  B25J19/06 ,  B25J9/16

    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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