中科微点-全球专利检索

  1. Login
  2. Sign Up

Search Results

21 records (took 0.023 seconds)

    Control of Robotic Devices with Non-Constant Body Pitch
    1.
    发明申请
    Control of Robotic Devices with Non-Constant Body Pitch 有权

    公开(公告)号：US20210309310A1

    公开(公告)日：2021-10-07

    申请号：US17304198

    申请日：2021-06-16

    Applicant: Boston Dynamics, Inc.

    Inventor： Gina Christine Fay ,  Alex Yu Khripin ,  Eric Whitman

    IPC: B62D57/032

    Abstract: An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.

    Hydraulic pressure variation in a legged robot
    2.
    发明授权
    Hydraulic pressure variation in a legged robot 有权

    公开(公告)号：US10145392B2

    公开(公告)日：2018-12-04

    申请号：US15493462

    申请日：2017-04-21

    Applicant: Boston Dynamics, Inc.

    Inventor： Zachary John Jackowski ,  Alex Yu Khripin ,  Alfred Anthony Rizzi

    IPC: F15B11/20 ,  B25J9/14 ,  B62D57/032 ,  F15B1/02

    Abstract: An example robot includes movable members, a hydraulic system including at least (i) hydraulic actuators configured to operate the movable members, and (ii) a source of hydraulic fluid, and a controller. The controller may be configured to: determine a task to be performed by the robot, where the task includes a plurality of phases; cause hydraulic fluid having a first pressure level to flow from the source to the hydraulic actuators for the robot to perform a first phase of the plurality of phases of the task; based on a second phase of the task, determine a second pressure level for the hydraulic fluid; and adjust, based on the second pressure level, operation of the hydraulic system before the robot begins the second phase of the task.

    Achieving a target gait behavior in a legged robot
    3.
    发明授权
    Achieving a target gait behavior in a legged robot 有权

    公开(公告)号：US10144465B1

    公开(公告)日：2018-12-04

    申请号：US16006943

    申请日：2018-06-13

    Applicant: Boston Dynamics, Inc.

    Inventor： Benjamin Swilling ,  Eric Whitman ,  Stephen Berard ,  Alfred Anthony Rizzi ,  Alex Yu Khripin ,  Gina Christine Fay

    IPC: G06F19/00 ,  B62D57/032 ,  B25J9/16 ,  B25J9/00

    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.

    Continuous slip recovery
    4.
    发明授权
    Continuous slip recovery 有权

    公开(公告)号：US12097609B2

    公开(公告)日：2024-09-24

    申请号：US17573265

    申请日：2022-01-11

    Applicant: Boston Dynamics, Inc.

    Inventor： Stephen Berard ,  Alex Yu Khripin ,  Benjamin Swilling

    IPC: B25J13/08 ,  B62D57/032 ,  B25J19/00

    CPC classification number: B25J13/085 ,  B62D57/032 ,  B25J19/0008 ,  Y10S901/01 ,  Y10S901/27 ,  Y10S901/28 ,  Y10S901/30

    Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.

    Hydraulic pressure variation in a legged robot
    6.
    发明授权
    Hydraulic pressure variation in a legged robot 有权

    公开(公告)号：US10704570B2

    公开(公告)日：2020-07-07

    申请号：US16176500

    申请日：2018-10-31

    Applicant: Boston Dynamics, Inc.

    Inventor： Zachary John Jackowski ,  Alex Yu Khripin ,  Alfred Anthony Rizzi

    IPC: B25J9/14 ,  F15B11/20 ,  B62D57/032 ,  F15B1/02

    Abstract: An example robot includes movable members, a hydraulic system including at least (i) hydraulic actuators configured to operate the movable members, and (ii) a source of hydraulic fluid, and a controller. The controller may be configured to: determine a task to be performed by the robot, where the task includes a plurality of phases; cause hydraulic fluid having a first pressure level to flow from the source to the hydraulic actuators for the robot to perform a first phase of the plurality of phases of the task; based on a second phase of the task, determine a second pressure level for the hydraulic fluid; and adjust, based on the second pressure level, operation of the hydraulic system before the robot begins the second phase of the task.

    Continuous slip recovery
    7.
    发明授权
    Continuous slip recovery 有权

    公开(公告)号：US11247344B2

    公开(公告)日：2022-02-15

    申请号：US16889035

    申请日：2020-06-01

    Applicant: Boston Dynamics, Inc.

    Inventor： Stephen Berard ,  Alex Yu Khripin ,  Benjamin Swilling

    IPC: B25J13/08 ,  B62D57/032 ,  B25J19/00

    Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.

    Control of robotic devices with non-constant body pitch
    8.
    发明授权
    Control of robotic devices with non-constant body pitch 有权

    公开(公告)号：US11059532B1

    公开(公告)日：2021-07-13

    申请号：US16046510

    申请日：2018-07-26

    Applicant: Boston Dynamics, Inc.

    Inventor： Gina Christine Fay ,  Alex Yu Khripin ,  Eric Whitman

    IPC: B62D57/032

    Abstract: An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.

    Continuous Slip Recovery
    10.
    发明申请
    Continuous Slip Recovery 有权

    公开(公告)号：US20250050509A1

    公开(公告)日：2025-02-13

    申请号：US18805204

    申请日：2024-08-14

    Applicant: Boston Dynamics, Inc.

    Inventor： Stephen Berard ,  Alex Yu Khripin ,  Benjamin Swilling

    IPC: B25J13/08 ,  B25J19/00 ,  B62D57/032

    Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.

Patent Agency Ranking