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公开(公告)号：US20240093766A1
公开(公告)日：2024-03-21
申请号：US18361414
申请日：2023-07-28
Applicant: Boston Dynamics, Inc.
Inventor： Steven D. Potter , Zachary John Jackowski , Adam Young
IPC: F16H25/20 , B25J9/10 , B25J9/12 , B25J17/02 , B62D57/032
CPC classification number: F16H25/20 , B25J9/102 , B25J9/106 , B25J9/108 , B25J9/123 , B25J17/0241 , B62D57/032 , F16H2025/204 , F16H2025/2043 , F16H2025/2075 , Y10S901/01
Abstract: A robot leg assembly including a hip joint and an upper leg member. A proximal end portion of the upper leg member rotatably coupled to the hip joint. The robot leg assembly including a knee joint rotatably coupled to a distal end portion of the upper leg member, a lower leg member rotatably coupled to the knee joint, a linear actuator disposed on the upper leg member and defining a motion axis, and a motor coupled to the linear actuator and a linkage coupled to the translation stage and to the lower leg member. The linear actuator includes a translation stage moveable along the motion axis to translate rotational motion of the motor to linear motion of the translation stage along the motion axis, which moves the linkage to rotate the lower leg member relative to the upper leg member at the knee joint.
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Patent Agency Ranking
公开(公告)号：US11131368B2
公开(公告)日：2021-09-28
申请号：US16286778
申请日：2019-02-27
Applicant: Boston Dynamics, Inc.
Inventor： Steven D. Potter , Zachary John Jackowski , Adam Young
IPC: F16H25/20 , B25J9/12 , B25J17/02 , B25J9/10 , B62D57/032
Abstract: An example robot includes: a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint; a screw actuator disposed within the upper leg member, where the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut; a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft; a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier; and a linkage coupled to the carrier, where the linkage is coupled to the lower leg member at the knee joint.
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公开(公告)号：US20200256399A1
公开(公告)日：2020-08-13
申请号：US16858800
申请日：2020-04-27
Applicant: Boston Dynamics, Inc.
Inventor： Zachary John Jackowski , Adam Young
Abstract: An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.
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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：US10337561B2
公开(公告)日：2019-07-02
申请号：US15380687
申请日：2016-12-15
Applicant: Boston Dynamics, Inc.
Inventor： Zachary John Jackowski , Adam Young
Abstract: An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.
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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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