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公开(公告)号：US10654168B2
公开(公告)日：2020-05-19
申请号：US16137796
申请日：2018-09-21
Applicant: Boston Dynamics, Inc.
Inventor： Alex Khripin , Alfred Anthony Rizzi
IPC: G05B19/00 , G05B15/00 , B25J9/16 , B62D57/032
Abstract: A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.
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公开(公告)号：US20240269838A1
公开(公告)日：2024-08-15
申请号：US18646099
申请日：2024-04-25
Applicant: Boston Dynamics, Inc.
Inventor： Robert Eugene Paolini , Alfred Anthony Rizzi , Navid Aghasadeghi , Alex Khripin
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/1633 , B25J9/1674
Abstract: A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.
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公开(公告)号：US20240003721A1
公开(公告)日：2024-01-04
申请号：US18469994
申请日：2023-09-19
Applicant: Boston Dynamics, Inc.
Inventor： Alex Khripin
CPC classification number: G01D18/001 , B25J9/1692 , G01D5/2448 , G01D5/347
Abstract: A method for calibrating a position measurement system includes receiving measurement data from the position measurement system and determining that the measurement data includes periodic distortion data. The position measurement system includes a nonius track and a master track. The method also includes modifying the measurement data by decomposing the periodic distortion data into periodic components and removing the periodic components from the measurement data.
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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.
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公开(公告)号：US20230008096A1
公开(公告)日：2023-01-12
申请号：US17814776
申请日：2022-07-25
Applicant: Boston Dynamics, Inc.
Inventor： Alex Khripin , Alfred Anthony Rizzi
IPC: B25J9/16 , B62D57/032
Abstract: A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.
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Patent Agency Ranking
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.
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公开(公告)号：US20180106276A1
公开(公告)日：2018-04-19
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
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
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公开(公告)号：US12270686B2
公开(公告)日：2025-04-08
申请号：US18469994
申请日：2023-09-19
Applicant: Boston Dynamics, Inc.
Inventor： Alex Khripin
Abstract: A method for calibrating a position measurement system includes receiving measurement data from the position measurement system and determining that the measurement data includes periodic distortion data. The position measurement system includes a nonius track and a master track. The method also includes modifying the measurement data by decomposing the periodic distortion data into periodic components and removing the periodic components from the measurement data.
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公开(公告)号：US11999059B2
公开(公告)日：2024-06-04
申请号：US17306990
申请日：2021-05-04
Applicant: Boston Dynamics, Inc.
Inventor： Robert Eugene Paolini , Alfred Anthony Rizzi , Navid Aghasadeghi , Alex Khripin
IPC: B25J9/16
CPC classification number: B25J9/163 , B25J9/1633 , B25J9/1674
Abstract: A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.
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公开(公告)号：US20220410390A1
公开(公告)日：2022-12-29
申请号：US17898278
申请日：2022-08-29
Applicant: Boston Dynamics, Inc.
Inventor： Eric Whitman , Alex Khripin
Abstract: A dynamic planning controller receives a maneuver for a robot and a current state of the robot and transforms the maneuver and the current state of the robot into a nonlinear optimization problem. The nonlinear optimization problem is configured to optimize an unknown force and an unknown position vector. At a first time instance, the controller linearizes the nonlinear optimization problem into a first linear optimization problem and determines a first solution to the first linear optimization problem using quadratic programming. At a second time instance, the controller linearizes the nonlinear optimization problem into a second linear optimization problem based on the first solution at the first time instance and determines a second solution to the second linear optimization problem based on the first solution using the quadratic programming. The controller also generates a joint command to control motion of the robot during the maneuver based on the second solution.
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