公开(公告)号：US11599128B2

公开(公告)日：2023-03-07

申请号：US16877721

申请日：2020-05-19

Applicant: Boston Dynamics, Inc.

Inventor： Eric Cary Whitman ,  Gene Brown Merewether

IPC: G05D1/10 ,  G06K9/62 ,  B62D57/02 ,  G06V10/44 ,  G06V20/10

Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.

公开(公告)号：US20220194245A1

公开(公告)日：2022-06-23

申请号：US17644696

申请日：2021-12-16

Applicant: Boston Dynamics, Inc.

Inventor： Dion Gonano ,  Eric Cary Whitman ,  Christopher Stathis ,  Matthew Jacob Klingensmith

IPC: B60L53/36 ,  G05D1/02 ,  B62D57/02 ,  B60L53/16

Abstract: A computer-implemented method when executed by data processing hardware of a legged robot causes the data processing hardware to perform operations including receiving sensor data corresponding to an area including at least a portion of a docking station. The operations include determining an estimated pose for the docking station based on an initial pose of the legged robot relative to the docking station. The operations include identifying one or more docking station features from the received sensor data. The operations include matching the one or more identified docking station features to one or more known docking station features. The operations include adjusting the estimated pose for the docking station to a corrected pose for the docking station based on an orientation of the one or more identified docking station features that match the one or more known docking station features.

公开(公告)号：US20210331754A1

公开(公告)日：2021-10-28

申请号：US16877749

申请日：2020-05-19

Applicant: Boston Dynamics, Inc.

Inventor： Eric Cary Whitman

IPC: B62D57/024 ,  B62D57/032 ,  G05D1/02

Abstract: A method for a stair tracking for modeled and perceived terrain includes receiving, at data processing hardware, sensor data about an environment of a robot. The method also includes generating, by the data processing hardware, a set of maps based on voxels corresponding to the received sensor data. The set of maps includes a ground height map and a map of movement limitations for the robot. The map of movement limitations identifies illegal regions within the environment that the robot should avoid entering. The method further includes generating a stair model for a set of stairs within the environment based on the sensor data, merging the stair model and the map of movement limitations to generate an enhanced stair map, and controlling the robot based on the enhanced stair map or the ground height map to traverse the environment.