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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：US20210141389A1
公开(公告)日：2021-05-13
申请号：US17157405
申请日：2021-01-25
Applicant: Boston Dynamics, Inc.
Inventor： Dom Jonak , Marco da Silva , Joel Chestnutt , Matt Klingensmith
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：US11747825B2
公开(公告)日：2023-09-05
申请号：US16295592
申请日：2019-03-07
Applicant: Boston Dynamics, Inc.
Inventor： Dom Jonak , Marco da Silva , Joel Chestnutt , Matt Klingensmith
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.
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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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公开(公告)号：US11927961B2
公开(公告)日：2024-03-12
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
CPC classification number: G05D1/0212 , G05D1/0274
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：US20230321830A1
公开(公告)日：2023-10-12
申请号：US18332602
申请日：2023-06-09
Applicant: Boston Dynamics, Inc.
Inventor： Joel Chestnutt , Gina Fay
CPC classification number: B25J9/1664 , B25J19/021 , G05D1/0212 , G05D1/08 , G05D2201/0207
Abstract: A method includes receiving sensor data of an environment about a robot and generating a plurality of waypoints and a plurality of edges each connecting a pair of the waypoints. The method includes receiving a target destination for the robot to navigate to and determining a route specification based on waypoints and corresponding edges for the robot to follow for navigating the robot to the target destination selected from waypoints and edges previously generated. For each waypoint, the method includes generating a goal region encompassing the corresponding waypoint and generating at least one constraint region encompassing a goal region. The at least one constraint region establishes boundaries for the robot to remain within while traversing toward the target destination. The method includes navigating the robot to the target destination by traversing the robot through each goal region while maintaining the robot within the at least one constraint region.
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公开(公告)号：US20210323153A1
公开(公告)日：2021-10-21
申请号：US16884669
申请日：2020-05-27
Applicant: Boston Dynamics, Inc,
Inventor： Joel Chestnutt , Gina Fay
Abstract: A method includes receiving sensor data of an environment about a robot and generating a plurality of waypoints and a plurality of edges each connecting a pair of the waypoints. The method includes receiving a target destination for the robot to navigate to and determining a route specification based on waypoints and corresponding edges for the robot to follow for navigating the robot to the target destination selected from waypoints and edges previously generated. For each waypoint, the method includes generating a goal region encompassing the corresponding waypoint and generating at least one constraint region encompassing a goal region. The at least one constraint region establishes boundaries for the robot to remain within while traversing toward the target destination. The method includes navigating the robot to the target destination by traversing the robot through each goal region while maintaining the robot within the at least one constraint region.
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公开(公告)号：US20230418305A1
公开(公告)日：2023-12-28
申请号：US18338881
申请日：2023-06-21
Applicant: Boston Dynamics, Inc.
Inventor： Joel Chestnutt , Rick Shanor
IPC: G05D1/02
CPC classification number: G05D1/0274 , G05D1/0212 , G05D2201/0217
Abstract: One disclosed method involves at least one application controlling navigation of a robot through an environment based at least in part on a topological map, the topological map including at least a first waypoint, a second waypoint, and a first edge representing a first path between the first waypoint and the second waypoint. The at least one application determines that the topological map includes at least one feature that identifies a first service that is configured to control the robot to perform at least one operation, and instructs the first service to perform the at least one operation as the robot travels along at least a portion of the first path.
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公开(公告)号：US11712802B2
公开(公告)日：2023-08-01
申请号：US16884669
申请日：2020-05-27
Applicant: Boston Dynamics, Inc.
Inventor： Joel Chestnutt , Gina Fay
CPC classification number: B25J9/1664 , B25J19/021 , G05D1/0212 , G05D1/08 , G05D2201/0207
Abstract: A method includes receiving sensor data of an environment about a robot and generating a plurality of waypoints and a plurality of edges each connecting a pair of the waypoints. The method includes receiving a target destination for the robot to navigate to and determining a route specification based on waypoints and corresponding edges for the robot to follow for navigating the robot to the target destination selected from waypoints and edges previously generated. For each waypoint, the method includes generating a goal region encompassing the corresponding waypoint and generating at least one constraint region encompassing a goal region. The at least one constraint region establishes boundaries for the robot to remain within while traversing toward the target destination. The method includes navigating the robot to the target destination by traversing the robot through each goal region while maintaining the robot within the at least one constraint region.
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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
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.
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