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公开(公告)号：US11691292B2
公开(公告)日：2023-07-04
申请号：US16600786
申请日：2019-10-14
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Klingensmith , Eric Whitman , Marco da Silva , Alfred Rizzi
CPC classification number: B25J11/0035 , B25J9/162 , B25J9/1694 , G05D1/0212
Abstract: The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.
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公开(公告)号：US11654569B2
公开(公告)日：2023-05-23
申请号：US17129996
申请日：2020-12-22
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Benjamin Stephens , Marco da Silva
IPC: B25J9/16 , B62D57/032
CPC classification number: B25J9/1692 , B25J9/1628 , B62D57/032 , B25J9/16 , B25J9/1679 , Y10S901/01 , Y10S901/46 , Y10S901/49
Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.
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公开(公告)号：US20220143828A1
公开(公告)日：2022-05-12
申请号：US17581361
申请日：2022-01-21
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Alex Perkins , Marco da Silva
IPC: B25J9/16 , B25J13/08 , B62D57/032
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：US20210380185A1
公开(公告)日：2021-12-09
申请号：US17409922
申请日：2021-08-24
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Marco da Silva
IPC: B62D57/02 , B25J9/16 , G01L5/00 , B62D57/032
Abstract: An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.
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公开(公告)号：US20210325893A1
公开(公告)日：2021-10-21
申请号：US16884709
申请日：2020-05-27
Applicant: Boston Dynamics, Inc.
Inventor： Gina Fay , Joel Chestnutt , Marco da Silva , Alfred Anthony Rizzi
Abstract: A method for constraining robot autonomy language includes receiving a navigation command to navigate a robot to a mission destination within an environment of the robot and generating a route specification for navigating the robot from a current location in the environment to the mission destination in the environment. The route specification includes a series of route segments. Each route segment in the series of route segments includes a goal region for the corresponding route segment and a constraint region encompassing the goal region. The constraint region establishes boundaries for the robot to remain within while traversing toward the goal region. The route segment also includes an initial path for the robot to follow while traversing the corresponding route segment.
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Patent Agency Ranking
公开(公告)号：US20210146548A1
公开(公告)日：2021-05-20
申请号：US17129996
申请日：2020-12-22
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Benjamin Stephens , Marco da Silva
IPC: B25J9/16 , B62D57/032
Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.
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公开(公告)号：US20240377843A1
公开(公告)日：2024-11-14
申请号：US18541874
申请日：2023-12-15
Applicant: Boston Dynamics, Inc.
Inventor： Julian Ryde , Yi Dong , Marco da Silva , Christopher Stathis , Karthik Ramachandran
IPC: G05D1/689 , B62D57/032 , G06T7/00 , G06T7/70
Abstract: Systems and methods are described for detecting changes at a location based on image data by a mobile robot. A system can instruct navigation of the mobile robot to a location. For example, the system can instruct navigation to the location as part of an inspection mission. The system can obtain input identifying a change detection. Based on the change detection and obtained image data associated with the location, the system can perform the change detection and detect a change associated with the location. For example, the system can perform the change detection based on one or more regions of interest of the obtained image data. Based on the detected change and a reference model, the system can determine presence of an anomaly condition in the obtained image data.
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公开(公告)号：US20230406429A1
公开(公告)日：2023-12-21
申请号：US18457996
申请日：2023-08-29
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Marco da Silva
IPC: B62D57/02 , B25J9/16 , G01L5/00 , B62D57/032
CPC classification number: B62D57/02 , B25J9/1633 , G01L5/0028 , B62D57/032 , Y10S901/01 , G05B2219/41163 , G05B2219/41021 , G05B2219/41005 , G05B2219/41006 , G05B2219/41025
Abstract: An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.
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公开(公告)号：US20230359220A1
公开(公告)日：2023-11-09
申请号：US18354500
申请日：2023-07-18
Applicant: Boston Dynamics, Inc.
Inventor： Dom Jonak , Marco da Silva , Joel Chestnutt , Matt Klingensmith
CPC classification number: G05D1/0274 , G06T7/74 , G06T7/521 , G06T7/13 , G06T7/593 , G01S17/89 , G05D1/0251 , G05D1/027 , G06V20/10 , G05B2219/40298 , G05D1/0214 , G06T2207/10012 , G06T2207/10028
Abstract: A robot includes a drive system configured to maneuver the robot about an environment and data processing hardware in communication with memory hardware and the drive system. The memory hardware stores instructions that when executed on the data processing hardware cause the data processing hardware to perform operations. The operations include receiving image data of the robot maneuvering in the environment and executing at least one waypoint heuristic. The at least one waypoint heuristic is configured to trigger a waypoint placement on a waypoint map. In response to the at least one waypoint heuristic triggering the waypoint placement, the operations include recording a waypoint on the waypoint map where the waypoint is associated with at least one waypoint edge and includes sensor data obtained by the robot. The at least one waypoint edge includes a pose transform expressing how to move between two waypoints.
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公开(公告)号：US20230286167A1
公开(公告)日：2023-09-14
申请号：US18317788
申请日：2023-05-15
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Klingensmith , Eric Whitman , Marco da Silva , Alfred Rizzi
CPC classification number: B25J11/0035 , B25J9/162 , B25J9/1694 , G05D1/0212
Abstract: The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.
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