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公开(公告)号：US20240210542A1
公开(公告)日：2024-06-27
申请号：US18545124
申请日：2023-12-19
Applicant: Boston Dynamics, Inc.
Inventor： Matthew Turpin , Andrew Hoelscher , Eyassu Shimelis , Michael Murphy , Mark Nehrkorn , Federico Vicentini , Neil Neville
IPC: G01S7/497 , G01S17/931
CPC classification number: G01S7/4972 , G01S17/931
Abstract: Methods and apparatus for automated calibration for a LIDAR system of a mobile robot are provided. The method comprises capturing a plurality of LIDAR measurements. The plurality of LIDAR measurements include a first set of LIDAR measurements as the mobile robot spins in a first direction at a first location, the first location being a first distance to a calibration target, and a second set of LIDAR measurements as the mobile robot spins in a second direction at a second location, the second location being a second distance to the calibration target, wherein the first direction and the second direction are different and the second distance is different than the first distance. The method further comprises processing the plurality of LIDAR measurements to determine calibration data, and generating alignment instructions for the LIDAR system based, at least in part, on the calibration data.
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公开(公告)号：US20240058962A1
公开(公告)日：2024-02-22
申请号：US18446786
申请日：2023-08-09
Applicant: Boston Dynamics, Inc.
Inventor： Michael Murphy , Alexander Perkins , Guillermo Diaz-Lankenau , Matthew Turpin , Phillip Cable
IPC: B25J9/16
CPC classification number: B25J9/1666
Abstract: A kit includes a computing device configured to control motion of equipment for receiving one or more parcels in an environment of a mobile robot. The kit also includes a structure configured to couple to the equipment. The structure comprises an identifier configured to be sensed by a sensor of the mobile robot.
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公开(公告)号：US20210180619A1
公开(公告)日：2021-06-17
申请号：US17184434
申请日：2021-02-24
Applicant: Boston Dynamics, Inc.
Inventor： Michael Murphy , John Aaron Saunders , Steven Potter
IPC: F15B11/18 , G05D1/02 , B25J9/20 , F15B11/16 , F15B11/17 , G05D16/20 , B25J9/16 , G05D1/00 , B25J9/14
Abstract: An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.
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公开(公告)号：US10962033B2
公开(公告)日：2021-03-30
申请号：US16371488
申请日：2019-04-01
Applicant: Boston Dynamics, Inc.
Inventor： Michael Murphy , John Aaron Saunders , Steven D. Potter
IPC: B25J9/20 , F15B11/18 , G05D1/02 , F15B11/16 , F15B11/17 , G05D16/20 , B25J9/16 , G05D1/00 , B25J9/14
Abstract: An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.
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公开(公告)号：US10252427B1
公开(公告)日：2019-04-09
申请号：US15967001
申请日：2018-04-30
Applicant: Boston Dynamics, Inc.
Inventor： Marc Patrick Strauss , Michael Murphy
Abstract: Examples described here include a device that has a housing defining a cavity, and a force sensor. The device also includes a first hydraulic actuator positioned in the cavity, and a second hydraulic actuator positioned in the cavity. The first and second hydraulic actuators move between respectively relaxing modes and thrusting modes along respective longitudinal axes. The longitudinal axis of the first hydraulic actuator is substantially parallel to the longitudinal axis of the second hydraulic actuator. The device also includes a first actuated member coupled to the first hydraulic actuator, and a second actuated member coupled to the second hydraulic actuator.
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Patent Agency Ranking
公开(公告)号：US20140319390A1
公开(公告)日：2014-10-30
申请号：US13873294
申请日：2013-04-30
Applicant: BOSTON DYNAMICS, INC.
Inventor： Marc Strauss , Michael Murphy
CPC classification number: F16K31/02 , F16K99/0032 , F16K2099/008 , F16K2099/009 , H05K1/0272 , H05K3/0047 , H05K3/429 , H05K3/4611 , H05K3/4697 , H05K2203/063 , Y10T29/49124 , Y10T29/49165
Abstract: A printed circuit board electrorheological fluid valve and method with spaced, bonded, epoxy printed circuit board laminates defining flow channels therebetween. Electrodes are formed on opposite surfaces of the flow channels and surface pads on a laminate are electrically connected to the electrodes for applying a voltage thereto controlling the flow of electrorheological fluid in the flow channels.
Abstract translation: 一种印刷电路板电流变流体阀和具有间隔的，粘结的环氧印刷电路板层压板的方法，其在其间限定流动通道。 电极形成在流动通道的相对表面上，层压体上的表面焊盘电连接到电极以施加电压，从而控制流动通道中的电流变流体的流动。
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公开(公告)号：USD1013004S1
公开(公告)日：2024-01-30
申请号：US29849362
申请日：2022-08-10
Applicant: Boston Dynamics, Inc.
Designer： Aaron Abroff , John Aaron Saunders , Michael Murphy
Abstract: FIG. 1 is a front perspective view of a robotic device showing our new design;
FIG. 2 is a front elevation view thereof;
FIG. 3 is a rear elevation view thereof;
FIG. 4 is a right side elevation view thereof;
FIG. 5 is a left side elevation view thereof;
FIG. 6 is the top plan view thereof; and,
FIG. 7 is the bottom plan view thereof.
The broken lines depict portions of the robotic device that form no part of the claimed design.-
公开(公告)号：US11713776B2
公开(公告)日：2023-08-01
申请号：US17184434
申请日：2021-02-24
Applicant: Boston Dynamics, Inc.
Inventor： Michael Murphy , John Aaron Saunders , Steven Potter
IPC: F15B11/18 , G05D1/02 , B25J9/20 , F15B11/16 , F15B11/17 , G05D16/20 , B25J9/16 , G05D1/00 , B25J9/14
CPC classification number: F15B11/18 , B25J9/14 , B25J9/1633 , B25J9/1638 , B25J9/1697 , B25J9/20 , F15B11/161 , F15B11/162 , F15B11/17 , G05D1/0038 , G05D1/021 , G05D1/0246 , G05D16/2013 , G05D16/2022 , B60Y2400/406 , F15B2211/20592 , F15B2211/212 , F15B2211/30585 , F15B2211/40515 , F15B2211/41527 , F15B2211/41545 , F15B2211/455 , F15B2211/50 , F15B2211/605 , F15B2211/6306 , F15B2211/6313 , F15B2211/6336 , F15B2211/665 , F15B2211/6653 , F15B2211/6654 , F15B2211/7051 , F15B2211/71 , F15B2211/7107 , F15B2211/76 , F15B2211/765 , F15B2211/78
Abstract: An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.
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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
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.
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公开(公告)号：US20190226503A1
公开(公告)日：2019-07-25
申请号：US16371488
申请日：2019-04-01
Applicant: Boston Dynamics, Inc.
Inventor： Michael Murphy , John Aaron Saunders , Steven D. Potter
Abstract: An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.
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