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

IPC: B25J9/16 ,  B25J13/08 ,  G05D1/02 ,  B62D57/02

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.

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

IPC: G05D1/00 ,  B25J9/16 ,  B25J13/08 ,  B62D57/02

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.

公开(公告)号：US20240181635A1

公开(公告)日：2024-06-06

申请号：US18073630

申请日：2022-12-02

Applicant: Boston Dynamics, Inc.

Inventor： Frans Anton Koolen ,  Robin Deits

IPC: B25J9/16

CPC classification number: B25J9/1638 ,  B25J9/1633 ,  B25J9/1666

Abstract: The invention includes systems and methods for determining movement of a robot. A computing system of the robot receives information comprising a reference behavior specification, a current state of the robot, and a characteristic of a massive body coupled to or expected to be coupled to the robot. The computing system determines, based on the information, a set of movement parameters for the robot, the set of movement parameters reflecting a goal trajectory for the robot. The computing system instructs the robot to move consistent with the set of movement parameters.

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

IPC: G05D1/02 ,  B62D57/02 ,  B25J9/16 ,  B25J13/08

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.

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

IPC: B25J9/16 ,  B25J13/08 ,  G05D1/02 ,  B62D57/02

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.