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：US20240189989A1

公开(公告)日：2024-06-13

申请号：US18537269

申请日：2023-12-12

Applicant: Boston Dynamics, Inc.

Inventor： Jared Di Carlo ,  Kevin Bergamin ,  Carmine Dario Bellicoso ,  Scott Kuindersma

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B25J9/161 ,  B25J9/1664 ,  B25J9/1694 ,  B62D57/032

Abstract: Systems and methods are described for climbing of objects in an environment of a robot based on sensor data. A system can obtain sensor data of the environment. For example, the system can obtain sensor data from one or more sensors of robot. The system can identify the object based on the sensor data. Further, the system can determine that the object is climbable based on determining that the object corresponds to a particular training object. The system can determine that the object corresponds to the particular training object based on a particular characteristic of the object. The system can identify a climbing operation associated with the training object and instruct the robot to climb on the object based on the climbing operation.

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.