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公开(公告)号：US20240051122A1
公开(公告)日：2024-02-15
申请号：US18494361
申请日：2023-10-25
Applicant: Boston Dynamics, Inc.
Inventor： Robin Deits , Scott Kuindersma , Matthew P. Kelly , Twan Koolen , Yeuhi Abe , Benjamin Stephens
CPC classification number: B25J9/1602 , B25J13/08 , G05D1/0212 , B62D57/02 , G05D1/0246 , G05D2201/0217
Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
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公开(公告)号：US11833680B2
公开(公告)日：2023-12-05
申请号：US17358628
申请日：2021-06-25
Applicant: Boston Dynamics, Inc.
Inventor： Robin Deits , Scott Kuindersma , Matthew P. Kelly , Twan Koolen , Yeuhi Abe , Benjamin Stephens
CPC classification number: B25J9/1602 , B25J13/08 , B62D57/02 , G05D1/0212 , G05D1/0246 , G05D2201/0217
Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
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公开(公告)号：US20220410378A1
公开(公告)日：2022-12-29
申请号：US17358628
申请日：2021-06-25
Applicant: Boston Dynamics, Inc.
Inventor： Robin Deits , Scott Kuindersma , Matthew P. Kelly , Twan Koolen , Yeuhi Abe , Benjamin Stephens
Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
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公开(公告)号：US12194629B2
公开(公告)日：2025-01-14
申请号：US18494361
申请日：2023-10-25
Applicant: Boston Dynamics, Inc.
Inventor： Robin Deits , Scott Kuindersma , Matthew P. Kelly , Twan Koolen , Yeuhi Abe , Benjamin Stephens
Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
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