公开(公告)号：US11796357B2

公开(公告)日：2023-10-24

申请号：US17661989

申请日：2022-05-04

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin

IPC: G01D18/00 ,  B25J9/16 ,  G01D5/244 ,  G01D5/347

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.

公开(公告)号：US20220374024A1

公开(公告)日：2022-11-24

申请号：US17811840

申请日：2022-07-11

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：US20220260398A1

公开(公告)日：2022-08-18

申请号：US17661989

申请日：2022-05-04

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：US20210039253A1

公开(公告)日：2021-02-11

申请号：US16573579

申请日：2019-09-17

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Alex Khripin

IPC: B25J9/16 ,  B25J13/08

Abstract: A method of footstep contact detection includes receiving joint dynamics for a swing leg of the robot where the swing leg performs a swing phase of a gait of the robot. The method also includes receiving odometry defining an estimation of a pose of the robot and determining whether an unexpected torque on the swing leg corresponds to an impact on the swing leg. When the unexpected torque corresponds to the impact, the method further includes determining whether the impact is indicative of a touchdown of the swing leg on a ground surface based on the odometry and the joint dynamics. When the impact is not indicative of the touchdown of the swing leg, the method includes classifying a cause of the impact based on the odometry of the robot and the joint dynamics of the swing leg.

公开(公告)号：US10279482B1

公开(公告)日：2019-05-07

申请号：US14574471

申请日：2014-12-18

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin ,  Stephen Berard ,  Alfred Anthony Rizzi

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

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.