公开(公告)号：US20210331333A1

公开(公告)日：2021-10-28

申请号：US17305518

申请日：2021-07-09

Applicant: Boston Dynamics, Inc.

Inventor： Vadim Chernyak

IPC: B25J19/00 ,  B25J5/00 ,  B25J9/00 ,  B25J9/10 ,  B25J15/06

Abstract: A robotic leg includes a hip, a first pulley attached to the hip and defining a first axis of rotation, a first leg portion having a first end portion and a second end portion, a second pulley rotatably coupled to the second end portion of the first leg portion and defining a second axis of rotation, a second leg portion having a first end portion and a second end portion, and a timing belt trained about the first pulley and the second pulley for synchronizing rotation of the first leg portion about the first axis of rotation and rotation of the second leg portion about the second axis of rotation. The first end portion of the first leg portion is rotatably coupled to the hip and configured to rotate about the first axis of rotation. The first end portion of the second leg portion is fixedly attached to the second pulley.

公开(公告)号：US20190255701A1

公开(公告)日：2019-08-22

申请号：US15902816

申请日：2018-02-22

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  John Aaron Saunders ,  Steven D. Potter ,  Vadim Chernyak ,  Shervin Talebinejad

IPC: B25J9/16 ,  B25J5/00 ,  B25J9/00 ,  B25J15/06

Abstract: A method of operating a robot includes driving a robot to approach a reach point, extending a manipulator arm forward of the reach point, and maintaining a drive wheel and a center of mass of the robot rearward of the reach point by moving a counter-balance body relative to an inverted pendulum body while extending the manipulator arm forward of the reach point. The robot includes the inverted pendulum body, the counter-balance body deposed on the inverted pendulum body, the manipulator arm connected to the inverted pendulum body, at least one leg having a first end prismatically coupled to the inverted pendulum body, and the drive wheel rotatably coupled to a second end of the at least one leg.

公开(公告)号：US20220305641A1

公开(公告)日：2022-09-29

申请号：US17699534

申请日：2022-03-21

Applicant: Boston Dynamics, Inc.

Inventor： Michael Murphy ,  Benjamin Zelnick ,  Malik Hansen ,  Vadim Chernyak ,  Christopher Everett Thorne ,  Alex Perkins

IPC: B25J9/06 ,  B25J17/02 ,  B25J15/06 ,  B25J9/16

Abstract: A robot includes a mobile base, a turntable rotatably coupled to the mobile base, a robotic arm operatively coupled to the turntable, and at least one directional sensor. An orientation of the at least one directional sensor is independently controllable. A method of controlling a robotic arm includes controlling a state of a mobile base and controlling a state of a robotic arm coupled to the mobile base, based, at least in part, on the state of the mobile base.

公开(公告)号：US10780578B2

公开(公告)日：2020-09-22

申请号：US15902816

申请日：2018-02-22

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  John Aaron Saunders ,  Steven D. Potter ,  Vadim Chernyak ,  Shervin Talebinejad

IPC: B25J9/16 ,  B25J5/00 ,  B25J9/00 ,  B25J15/06 ,  B25J19/00 ,  B25J19/02 ,  B25J15/00

Abstract: A method of operating a robot includes driving a robot to approach a reach point, extending a manipulator arm forward of the reach point, and maintaining a drive wheel and a center of mass of the robot rearward of the reach point by moving a counter-balance body relative to an inverted pendulum body while extending the manipulator arm forward of the reach point. The robot includes the inverted pendulum body, the counter-balance body deposed on the inverted pendulum body, the manipulator arm connected to the inverted pendulum body, at least one leg having a first end prismatically coupled to the inverted pendulum body, and the drive wheel rotatably coupled to a second end of the at least one leg.

公开(公告)号：US20200290217A1

公开(公告)日：2020-09-17

申请号：US16299580

申请日：2019-03-12

Applicant: Boston Dynamics, Inc.

Inventor： Vadim Chernyak

IPC: B25J19/00 ,  B25J5/00 ,  B25J15/06 ,  B25J9/10 ,  B25J9/00

Abstract: A robotic leg includes a hip, a first pulley attached to the hip and defining a first axis of rotation, a first leg portion having a first end portion and a second end portion, a second pulley rotatably coupled to the second end portion of the first leg portion and defining a second axis of rotation, a second leg portion having a first end portion and a second end portion, and a timing belt trained about the first pulley and the second pulley for synchronizing rotation of the first leg portion about the first axis of rotation and rotation of the second leg portion about the second axis of rotation. The first end portion of the first leg portion is rotatably coupled to the hip and configured to rotate about the first axis of rotation. The first end portion of the second leg portion is fixedly attached to the second pulley.

公开(公告)号：US12251831B2

公开(公告)日：2025-03-18

申请号：US17699534

申请日：2022-03-21

Applicant: Boston Dynamics, Inc.

Inventor： Michael Murphy ,  Benjamin Zelnick ,  Malik Hansen ,  Vadim Chernyak ,  Christopher Everett Thorne ,  Alex Perkins

IPC: B25J15/06 ,  B25J9/06 ,  B25J9/16 ,  B25J17/02 ,  B25J5/00

Abstract: A robot includes a mobile base, a turntable rotatably coupled to the mobile base, a robotic arm operatively coupled to the turntable, and at least one directional sensor. An orientation of the at least one directional sensor is independently controllable. A method of controlling a robotic arm includes controlling a state of a mobile base and controlling a state of a robotic arm coupled to the mobile base, based, at least in part, on the state of the mobile base.

公开(公告)号：US11850738B2

公开(公告)日：2023-12-26

申请号：US17305518

申请日：2021-07-09

Applicant: Boston Dynamics, Inc.

Inventor： Vadim Chernyak

IPC: B25J19/00 ,  B25J5/00 ,  B25J9/00 ,  B25J9/10 ,  B25J15/06

CPC classification number: B25J19/002 ,  B25J5/007 ,  B25J9/0015 ,  B25J9/106 ,  B25J15/065

Abstract: A robotic leg includes a hip, a first pulley attached to the hip and defining a first axis of rotation, a first leg portion having a first end portion and a second end portion, a second pulley rotatably coupled to the second end portion of the first leg portion and defining a second axis of rotation, a second leg portion having a first end portion and a second end portion, and a timing belt trained about the first pulley and the second pulley for synchronizing rotation of the first leg portion about the first axis of rotation and rotation of the second leg portion about the second axis of rotation. The first end portion of the first leg portion is rotatably coupled to the hip and configured to rotate about the first axis of rotation. The first end portion of the second leg portion is fixedly attached to the second pulley.

公开(公告)号：US11077566B2

公开(公告)日：2021-08-03

申请号：US16299580

申请日：2019-03-12

Applicant: Boston Dynamics, Inc.

Inventor： Vadim Chernyak

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B25J19/00 ,  B25J5/00 ,  B25J9/00 ,  B25J9/10 ,  B25J15/06

Abstract: A robotic leg includes a hip, a first pulley attached to the hip and defining a first axis of rotation, a first leg portion having a first end portion and a second end portion, a second pulley rotatably coupled to the second end portion of the first leg portion and defining a second axis of rotation, a second leg portion having a first end portion and a second end portion, and a timing belt trained about the first pulley and the second pulley for synchronizing rotation of the first leg portion about the first axis of rotation and rotation of the second leg portion about the second axis of rotation. The first end portion of the first leg portion is rotatably coupled to the hip and configured to rotate about the first axis of rotation. The first end portion of the second leg portion is fixedly attached to the second pulley.