公开(公告)号：US20220244741A1

公开(公告)日：2022-08-04

申请号：US17648942

申请日：2022-01-26

Applicant: Boston Dynamics, Inc

Inventor： Marco da Silva ,  Dom Jonak ,  Matthew Klingensmith ,  Samuel Seifert

IPC: G05D1/02 ,  G06V20/50 ,  G01C21/00 ,  B62D57/032

Abstract: A method includes receiving, while a robot traverses a building environment, sensor data captured by one or more sensors of the robot. The method includes receiving a building information model (BIM) for the environment that includes semantic information identifying one or more permanent objects within the environment. The method includes generating a plurality of localization candidates for a localization map of the environment. Each localization candidate corresponds to a feature of the environment identified by the sensor data and represents a potential localization reference point. The localization map is configured to localize the robot within the environment when the robot moves throughout the environment. For each localization candidate, the method includes determining whether the respective feature corresponding to the respective localization candidate is a permanent object in the environment and generating the respective localization candidate as a localization reference point in the localization map for the robot.

公开(公告)号：US20210107163A1

公开(公告)日：2021-04-15

申请号：US16600786

申请日：2019-10-14

Applicant: Boston Dynamics, Inc.

Inventor： Matthew Klingensmith ,  Eric Whiman ,  Marco da Silva ,  Alfred Rizzi

IPC: B25J11/00 ,  G05D1/02 ,  B25J9/16

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.

公开(公告)号：US10888999B2

公开(公告)日：2021-01-12

申请号：US16870381

申请日：2020-05-08

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.

公开(公告)号：US20200172183A1

公开(公告)日：2020-06-04

申请号：US16783261

申请日：2020-02-06

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Marco da Silva

IPC: B62D57/02 ,  B25J9/16 ,  B62D57/032 ,  G01L5/00

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.

公开(公告)号：US10093019B1

公开(公告)日：2018-10-09

申请号：US15230776

申请日：2016-08-08

Applicant: Boston Dynamics, Inc.

Inventor： Marco da Silva ,  Benjamin Stephens ,  Alfred Anthony Rizzi ,  Yeuhi Abe

IPC: B25J9/16 ,  B62D57/032

Abstract: A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a predetermined goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.

公开(公告)号：US12134181B2

公开(公告)日：2024-11-05

申请号：US18317788

申请日：2023-05-15

Applicant: Boston Dynamics, Inc.

Inventor： Matthew Klingensmith ,  Eric Whitman ,  Marco da Silva ,  Alfred Rizzi

IPC: B25J11/00 ,  B25J9/16 ,  G05D1/00

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.

公开(公告)号：US12128570B2

公开(公告)日：2024-10-29

申请号：US18299645

申请日：2023-04-12

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.

公开(公告)号：US20240091930A1

公开(公告)日：2024-03-21

申请号：US18521950

申请日：2023-11-28

Applicant: Boston Dynamics, Inc.

Inventor： Marco da Silva ,  Benjamin Stephens ,  Alfred Anthony Rizzi ,  Yeuhi Abe

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B25J9/1605 ,  B25J9/162 ,  B25J9/1633 ,  B62D57/032 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/28

Abstract: A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.

公开(公告)号：US11932332B2

公开(公告)日：2024-03-19

申请号：US17229363

申请日：2021-04-13

Applicant: Boston Dynamics, Inc.

Inventor： Christopher Everett Thorne ,  John Aaron Saunders ,  Marco da Silva ,  Thomas H. Miller ,  Alexander Douglas Perkins

IPC: B62D57/032 ,  B25J9/16

CPC classification number: B62D57/032 ,  B25J9/162 ,  B25J9/1633 ,  Y10S901/01 ,  Y10S901/28

Abstract: An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.

公开(公告)号：US11656630B2

公开(公告)日：2023-05-23

申请号：US17157405

申请日：2021-01-25

Applicant: Boston Dynamics, Inc.

Inventor： Dom Jonak ,  Marco da Silva ,  Joel Chestnutt ,  Matt Klingensmith

IPC: G05D1/02 ,  G06T7/73 ,  G06T7/521 ,  G06T7/13 ,  G06T7/593 ,  G01S17/89 ,  G06V20/10

CPC classification number: G05D1/0274 ,  G01S17/89 ,  G05D1/027 ,  G05D1/0251 ,  G06T7/13 ,  G06T7/521 ,  G06T7/593 ,  G06T7/74 ,  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.