公开(公告)号：US20190054965A1

公开(公告)日：2019-02-21

申请号：US16166673

申请日：2018-10-22

Applicant: BOSTON DYNAMICS, INC.

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

IPC: 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.

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.

公开(公告)号：US20200290213A1

公开(公告)日：2020-09-17

申请号：US16889035

申请日：2020-06-01

Applicant: Boston Dynamics, Inc.

Inventor： Stephen Berard ,  Alexander Yu Khripin ,  Benjamin Swilling

IPC: B25J13/08 ,  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.

公开(公告)号：US10279482B1

公开(公告)日：2019-05-07

申请号：US14574471

申请日：2014-12-18

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin ,  Stephen Berard ,  Alfred Anthony Rizzi

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

Abstract: 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：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.

公开(公告)号：US11794353B2

公开(公告)日：2023-10-24

申请号：US17451669

申请日：2021-10-21

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin ,  Stephen Berard ,  Alfred Rizzi

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

CPC classification number: B25J9/20 ,  B25J5/00 ,  B62D57/032 ,  F15B9/09 ,  Y10S901/01

Abstract: 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：US20210147017A1

公开(公告)日：2021-05-20

申请号：US17158748

申请日：2021-01-26

Applicant: Boston Dynamics, Inc.

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

IPC: 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.

公开(公告)号：US10688667B1

公开(公告)日：2020-06-23

申请号：US15901419

申请日：2018-02-21

Applicant: Boston Dynamics, Inc.

Inventor： Stephen Berard ,  Alex Yu Khripin ,  Benjamin Swilling

IPC: B25J13/00 ,  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.

公开(公告)号：US10578129B2

公开(公告)日：2020-03-03

申请号：US15846362

申请日：2017-12-19

Applicant: Boston Dynamics, Inc.

Inventor： Zachary John Jackowski ,  Alex Khripin ,  Stephen Berard ,  Alfred Anthony Rizzi

IPC: F15B1/033 ,  F15B1/04 ,  F15B21/00 ,  B62D57/032 ,  B25J9/14

Abstract: A control system may receive sensor data indicative of respective fluid levels of two or more hydraulic accumulators configured to operate at respective target fluid levels within a hydraulic system. The control system may determine respective errors of the hydraulic accumulators based on the respective fluid levels and respective target fluid levels of the hydraulic accumulators. The respective errors may correspond to pressure errors, fluid volume errors, or other types of errors of the hydraulic accumulators. Responsive to determining the respective errors, the control system may determine that the error of a given hydraulic accumulator is greater than errors of the other hydraulic accumulators and provide instructions to control a hydraulic valve to supply fluid from a single pump of the hydraulic system to the given hydraulic accumulator.

公开(公告)号：US10266220B2

公开(公告)日：2019-04-23

申请号：US16166673

申请日：2018-10-22

Applicant: Boston Dynamics, Inc.

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

IPC: 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.