公开(公告)号：US20220324104A1

公开(公告)日：2022-10-13

申请号：US17810130

申请日：2022-06-30

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Alex Khripin

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/02

Abstract: A method of footstep contact detection includes receiving joint dynamics data for a swing phase of a swing leg of the robot, receiving odometry data indicative of a pose of the robot, determining whether an impact on the swing leg is indicative of a touchdown of the swing leg based on the joint dynamics data and an amount of completion of the swing phase, and determining when the impact on the swing leg is not indicative of the touchdown of the swing leg, a cause of the impact based on the joint dynamics data and the odometry data.

公开(公告)号：US11416003B2

公开(公告)日：2022-08-16

申请号：US16573284

申请日：2019-09-17

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Gina Christine Fay ,  Alex Khripin ,  Max Bajracharya ,  Matthew Malchano ,  Adam Komoroski ,  Christopher Stathis

IPC: G05D1/02 ,  B25J9/16 ,  B25J13/08 ,  B62D57/032

Abstract: A method of constrained mobility mapping includes receiving from at least one sensor of a robot at least one original set of sensor data and a current set of sensor data. Here, each of the at least one original set of sensor data and the current set of sensor data corresponds to an environment about the robot. The method further includes generating a voxel map including a plurality of voxels based on the at least one original set of sensor data. The plurality of voxels includes at least one ground voxel and at least one obstacle voxel. The method also includes generating a spherical depth map based on the current set of sensor data and determining that a change has occurred to an obstacle represented by the voxel map based on a comparison between the voxel map and the spherical depth map. The method additional includes updating the voxel map to reflect the change to the obstacle.

公开(公告)号：US11353345B2

公开(公告)日：2022-06-07

申请号：US16518191

申请日：2019-07-22

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin

IPC: G01D18/00 ,  B25J9/16 ,  G01D5/244 ,  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.

公开(公告)号：US11154990B1

公开(公告)日：2021-10-26

申请号：US16137255

申请日：2018-09-20

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin ,  Stephen Berard ,  Alfred Rizzi

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

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：US20210041887A1

公开(公告)日：2021-02-11

申请号：US16573284

申请日：2019-09-17

Applicant: Boston Dynamics, Inc

Inventor： Eric Whitman ,  Gina Christine Fay ,  Alex Khripin ,  Max Bajracharya ,  Matthew Malchano ,  Adam Komoroski ,  Christopher Stathis

IPC: G05D1/02 ,  B25J13/08 ,  B25J9/16

Abstract: A method of constrained mobility mapping includes receiving from at least one sensor of a robot at least one original set of sensor data and a current set of sensor data. Here, each of the at least one original set of sensor data and the current set of sensor data corresponds to an environment about the robot. The method further includes generating a voxel map including a plurality of voxels based on the at least one original set of sensor data. The plurality of voxels includes at least one ground voxel and at least one obstacle voxel. The method also includes generating a spherical depth map based on the current set of sensor data and determining that a change has occurred to an obstacle represented by the voxel map based on a comparison between the voxel map and the spherical depth map. The method additional includes updating the voxel map to reflect the change to the obstacle.

公开(公告)号：US10105850B2

公开(公告)日：2018-10-23

申请号：US15495905

申请日：2017-04-24

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin ,  Alfred Anthony Rizzi

IPC: 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：US12214497B2

公开(公告)日：2025-02-04

申请号：US17810130

申请日：2022-06-30

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Alex Khripin

IPC: B25J13/08 ,  B25J9/16 ,  B62D57/02 ,  B62D57/024 ,  B62D57/028 ,  B62D57/032

Abstract: A method of footstep contact detection includes receiving joint dynamics data for a swing phase of a swing leg of the robot, receiving odometry data indicative of a pose of the robot, determining whether an impact on the swing leg is indicative of a touchdown of the swing leg based on the joint dynamics data and an amount of completion of the swing phase, and determining when the impact on the swing leg is not indicative of the touchdown of the swing leg, a cause of the impact based on the joint dynamics data and the odometry data.

公开(公告)号：US20240367315A1

公开(公告)日：2024-11-07

申请号：US18774604

申请日：2024-07-16

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Alex Khripin

IPC: B25J9/16 ,  G05B13/04 ,  G06N5/01

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.

公开(公告)号：US12070863B2

公开(公告)日：2024-08-27

申请号：US17898278

申请日：2022-08-29

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Alex Khripin

IPC: G05B13/04 ,  B25J9/16 ,  G06N5/01

CPC classification number: B25J9/1653 ,  G05B13/042 ,  G06N5/01

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.

公开(公告)号：US11911916B2

公开(公告)日：2024-02-27

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

CPC classification number: B25J9/1694 ,  B25J9/1664 ,  B62D57/032 ,  G05B2219/39082 ,  G05B2219/39215 ,  G05B2219/39325 ,  G05D2201/0217 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46

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.