公开(公告)号：US11154990B1

公开(公告)日：2021-10-26

申请号：US16137255

申请日：2018-09-20

申请人： Boston Dynamics, Inc.

发明人： Alex Khripin ,  Stephen Berard ,  Alfred Rizzi

IPC分类号： B25J9/20 ,  B25J5/00 ,  B62D57/032 ,  F15B9/09

摘要： An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.

公开(公告)号：US11794353B2

公开(公告)日：2023-10-24

申请号：US17451669

申请日：2021-10-21

申请人： Boston Dynamics, Inc.

发明人： Alex Khripin ,  Stephen Berard ,  Alfred Rizzi

IPC分类号： B25J9/20 ,  F15B9/09 ,  B62D57/032 ,  B25J5/00

CPC分类号： B25J9/20 ,  B25J5/00 ,  B62D57/032 ,  F15B9/09 ,  Y10S901/01

摘要： An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.

公开(公告)号：US10851810B2

公开(公告)日：2020-12-01

申请号：US16550903

申请日：2019-08-26

申请人： Boston Dynamics, Inc.

发明人： Alex Perkins ,  Kevin Blankespoor ,  Alfred Rizzi

IPC分类号： F15B11/048 ,  F15B9/09 ,  F15B21/08 ,  F15B15/28 ,  F15B15/22

摘要： In some applications, a piston of a hydraulic actuator may move at high speeds, and large undesired forces may be generated if the piston reaches an end-stop of the hydraulic actuator at a high speed. The undesired forces may, for example, cause mechanical damage in the hydraulic actuator. A controller may receive information indicative of the piston reaching a first position at a first threshold distance from the end-stop, and, in response, may modify a signal to a valve assembly controlling flow of hydraulic fluid to and from the hydraulic actuator. Further, the controller may receive information indicative of the piston reaching a second position at a second threshold distance closer to the end-stop of the hydraulic actuator, and, in response, the controller may further modify the signal to the valve assembly so as to apply a force on the piston in a away from the end-stop.

公开(公告)号：US20220155078A1

公开(公告)日：2022-05-19

申请号：US17649620

申请日：2022-02-01

申请人： Boston Dynamics, Inc.

发明人： Gina Christine Fay ,  Alfred Rizzi

IPC分类号： G01C21/20

摘要： A method for generating intermediate waypoints for a navigation system of a robot includes receiving a navigation route. The navigation route includes a series of high-level waypoints that begin at a starting location and end at a destination location and is based on high-level navigation data. The high-level navigation data is representative of locations of static obstacles in an area the robot is to navigate. The method also includes receiving image data of an environment about the robot from an image sensor and generating at least one intermediate waypoint based on the image data. The method also includes adding the at least one intermediate waypoint to the series of high-level waypoints of the navigation route and navigating the robot from the starting location along the series of high-level waypoints and the at least one intermediate waypoint toward the destination location.

公开(公告)号：US20210041243A1

公开(公告)日：2021-02-11

申请号：US16569885

申请日：2019-09-13

申请人： Boston Dynamics, Inc.

发明人： Gina Christine Fay ,  Alfred Rizzi

IPC分类号： G01C21/20

摘要： A method for generating intermediate waypoints for a navigation system of a robot includes receiving a navigation route. The navigation route includes a series of high-level waypoints that begin at a starting location and end at a destination location and is based on high-level navigation data. The high-level navigation data is representative of locations of static obstacles in an area the robot is to navigate. The method also includes receiving image data of an environment about the robot from an image sensor and generating at least one intermediate waypoint based on the image data. The method also includes adding the at least one intermediate waypoint to the series of high-level waypoints of the navigation route and navigating the robot from the starting location along the series of high-level waypoints and the at least one intermediate waypoint toward the destination location.

公开(公告)号：US20240051150A1

公开(公告)日：2024-02-15

申请号：US18467127

申请日：2023-09-14

申请人： Boston Dynamics, Inc.

发明人： Alex Khripin ,  Stephen Berard ,  Alfred Rizzi

IPC分类号： B25J9/20 ,  F15B9/09 ,  B62D57/032 ,  B25J5/00

CPC分类号： B25J9/20 ,  F15B9/09 ,  B62D57/032 ,  B25J5/00 ,  Y10S901/01

摘要： An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.

公开(公告)号：US20230400307A1

公开(公告)日：2023-12-14

申请号：US18456349

申请日：2023-08-25

申请人： Boston Dynamics, Inc.

发明人： Gina Christine Fay ,  Alfred Rizzi

IPC分类号： G01C21/20

CPC分类号： G01C21/20 ,  G05D1/0088

摘要： A method for generating intermediate waypoints for a navigation system of a robot includes receiving a navigation route. The navigation route includes a series of high-level waypoints that begin at a starting location and end at a destination location and is based on high-level navigation data. The high-level navigation data is representative of locations of static obstacles in an area the robot is to navigate. The method also includes receiving image data of an environment about the robot from an image sensor and generating at least one intermediate waypoint based on the image data. The method also includes adding the at least one intermediate waypoint to the series of high-level waypoints of the navigation route and navigating the robot from the starting location along the series of high-level waypoints and the at least one intermediate waypoint toward the destination location.

公开(公告)号：US11691292B2

公开(公告)日：2023-07-04

申请号：US16600786

申请日：2019-10-14

申请人： Boston Dynamics, Inc.

发明人： Matthew Klingensmith ,  Eric Whitman ,  Marco da Silva ,  Alfred Rizzi

IPC分类号： B25J11/00 ,  B25J9/16 ,  G05D1/02

CPC分类号： B25J11/0035 ,  B25J9/162 ,  B25J9/1694 ,  G05D1/0212

摘要： The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.

公开(公告)号：US11268816B2

公开(公告)日：2022-03-08

申请号：US16569885

申请日：2019-09-13

申请人： Boston Dynamics, Inc.

发明人： Gina Christine Fay ,  Alfred Rizzi

IPC分类号： G01C21/20 ,  G05D1/00 ,  G05D1/02

摘要： A method for generating intermediate waypoints for a navigation system of a robot includes receiving a navigation route. The navigation route includes a series of high-level waypoints that begin at a starting location and end at a destination location and is based on high-level navigation data. The high-level navigation data is representative of locations of static obstacles in an area the robot is to navigate. The method also includes receiving image data of an environment about the robot from an image sensor and generating at least one intermediate waypoint based on the image data. The method also includes adding the at least one intermediate waypoint to the series of high-level waypoints of the navigation route and navigating the robot from the starting location along the series of high-level waypoints and the at least one intermediate waypoint toward the destination location.

公开(公告)号：US11774247B2

公开(公告)日：2023-10-03

申请号：US17649620

申请日：2022-02-01

申请人： Boston Dynamics, Inc.

发明人： Gina Christine Fay ,  Alfred Rizzi

IPC分类号： G01C21/20 ,  G05D1/00 ,  G05D1/02

CPC分类号： G01C21/20 ,  G05D1/0088 ,  G05D1/0214 ,  G05D2201/0217

摘要： A method for generating intermediate waypoints for a navigation system of a robot includes receiving a navigation route. The navigation route includes a series of high-level waypoints that begin at a starting location and end at a destination location and is based on high-level navigation data. The high-level navigation data is representative of locations of static obstacles in an area the robot is to navigate. The method also includes receiving image data of an environment about the robot from an image sensor and generating at least one intermediate waypoint based on the image data. The method also includes adding the at least one intermediate waypoint to the series of high-level waypoints of the navigation route and navigating the robot from the starting location along the series of high-level waypoints and the at least one intermediate waypoint toward the destination location.