公开(公告)号：US20220193893A1

公开(公告)日：2022-06-23

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

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.

公开(公告)号：US20210325893A1

公开(公告)日：2021-10-21

申请号：US16884709

申请日：2020-05-27

Applicant: Boston Dynamics, Inc.

Inventor： Gina Fay ,  Joel Chestnutt ,  Marco da Silva ,  Alfred Anthony Rizzi

IPC: G05D1/02 ,  B25J9/16

Abstract: A method for constraining robot autonomy language includes receiving a navigation command to navigate a robot to a mission destination within an environment of the robot and generating a route specification for navigating the robot from a current location in the environment to the mission destination in the environment. The route specification includes a series of route segments. Each route segment in the series of route segments includes a goal region for the corresponding route segment and a constraint region encompassing the goal region. The constraint region establishes boundaries for the robot to remain within while traversing toward the goal region. The route segment also includes an initial path for the robot to follow while traversing the corresponding route segment.

公开(公告)号：US20200254621A1

公开(公告)日：2020-08-13

申请号：US16858795

申请日：2020-04-27

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.

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.

公开(公告)号：US10145392B2

公开(公告)日：2018-12-04

申请号：US15493462

申请日：2017-04-21

Applicant: Boston Dynamics, Inc.

Inventor： Zachary John Jackowski ,  Alex Yu Khripin ,  Alfred Anthony Rizzi

IPC: F15B11/20 ,  B25J9/14 ,  B62D57/032 ,  F15B1/02

Abstract: An example robot includes movable members, a hydraulic system including at least (i) hydraulic actuators configured to operate the movable members, and (ii) a source of hydraulic fluid, and a controller. The controller may be configured to: determine a task to be performed by the robot, where the task includes a plurality of phases; cause hydraulic fluid having a first pressure level to flow from the source to the hydraulic actuators for the robot to perform a first phase of the plurality of phases of the task; based on a second phase of the task, determine a second pressure level for the hydraulic fluid; and adjust, based on the second pressure level, operation of the hydraulic system before the robot begins the second phase of the task.

公开(公告)号：US10144465B1

公开(公告)日：2018-12-04

申请号：US16006943

申请日：2018-06-13

Applicant: Boston Dynamics, Inc.

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

IPC: G06F19/00 ,  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：US20140083077A1

公开(公告)日：2014-03-27

申请号：US13624006

申请日：2012-09-21

Applicant: BOSTON DYNAMICS, INC.

Inventor： Aaron Saunders ,  Christopher Everett Thorne ,  Alfred Anthony Rizzi

IPC: F02B75/40

CPC classification number: F01B11/008 ,  F02B71/00 ,  F02B71/04 ,  F02B71/045 ,  F02B75/04 ,  F02B2075/025

Abstract: A combustion powered linear actuator features an actuator body having a first chamber therein and a power piston mounted in the first chamber movable between retracted and extended positions. The power piston has a combustion chamber therein. A first seal about the piston seals the piston with respect to the actuator body. A vent region in the body of increased diameter allows exhaust gases to bypass the first seal and flow into a space between the piston and the actuator body and to then vent out of the actuator body. A second seal proximate the distal end of the actuator body cooperates with another piston seal to seal the annular region when the piston is retracted. The vent region may include a vent gland in the first chamber about the piston defining a vent chamber between the actuator body and the vent gland.

Abstract translation: 燃烧动力线性致动器具有致动器本体，其中具有第一腔室，并且动力活塞安装在第一腔室中，其可在缩回位置和伸出位置之间移动。 动力活塞在其中具有燃烧室。 关于活塞的第一密封件相对于致动器主体密封活塞。 增加直径体内的通气区域允许废气绕过第一密封并流入活塞和致动器主体之间的空间，然后从致动器本体排出。 靠近致动器主体的远端的第二密封件与另一个活塞密封件协作，以在活塞缩回时密封环形区域。 通气区域可以包括围绕活塞的第一腔室中的通气压盖，其在致动器主体和通气压盖之间限定通气室。

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.

公开(公告)号：US11927961B2

公开(公告)日：2024-03-12

申请号：US16884709

申请日：2020-05-27

Applicant: Boston Dynamics, Inc.

Inventor： Gina Fay ,  Joel Chestnutt ,  Marco da Silva ,  Alfred Anthony Rizzi

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0212 ,  G05D1/0274

Abstract: A method for constraining robot autonomy language includes receiving a navigation command to navigate a robot to a mission destination within an environment of the robot and generating a route specification for navigating the robot from a current location in the environment to the mission destination in the environment. The route specification includes a series of route segments. Each route segment in the series of route segments includes a goal region for the corresponding route segment and a constraint region encompassing the goal region. The constraint region establishes boundaries for the robot to remain within while traversing toward the goal region. The route segment also includes an initial path for the robot to follow while traversing the corresponding route segment.

公开(公告)号：US20220324108A1

公开(公告)日：2022-10-13

申请号：US17809204

申请日：2022-06-27

Applicant: Boston Dynamics, Inc.

Inventor： Robert Eugene Paolini ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B25J9/04

Abstract: A method of planning a path for an articulated arm of robot includes generating a directed graph corresponding to a joint space of the articulated arm. The directed graph includes a plurality of nodes each corresponding to a joint pose of the articulated arm. The method also includes generating a planned path from a start node associated with a start pose of the articulated arm to an end node associated with a target pose of the articulated arm. The planned path includes a series of movements along the nodes between the start node and the end node. The method also includes determining when the articulated arm can travel to a subsequent node or the target pose, terminating a movement of the articulated arm towards a target node, and initiating a subsequent movement of the articulated arm to move directly to the target pose or the subsequent node.