公开(公告)号：US20230234229A1

公开(公告)日：2023-07-27

申请号：US17994855

申请日：2022-11-28

Applicant: Boston Dynamics, Inc.

Inventor： Gina Fay ,  Navid Aghasadeghi ,  Alfred Anthony Rizzi

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/162 ,  B25J9/1676 ,  B25J9/1661

Abstract: Techniques are described that determine motion of a robot's body that will maintain an end effector within a useable workspace when the end effector moves according to a predicted future trajectory. The techniques may include determining or otherwise obtaining the predicted future trajectory of the end effector and utilizing the predicted future trajectory to determine any motion of the body that is necessary to maintain the end effector within the useable workspace. In cases where no such motion of the body is necessary because the predicted future trajectory indicates the end effector will stay within the useable workspace without motion of the body, the body may remain stationary, thereby avoiding the drawbacks caused by unnecessary motion described above. Otherwise, the body of the robot can be moved while the end effector moves to ensure that the end effector stays within the useable workspace.

公开(公告)号：US11654559B2

公开(公告)日：2023-05-23

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

CPC classification number: B25J9/1664 ,  B25J9/042 ,  B25J9/161

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.

公开(公告)号：US20230008096A1

公开(公告)日：2023-01-12

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

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：US11084167B1

公开(公告)日：2021-08-10

申请号：US16108919

申请日：2018-08-22

Applicant: Boston Dynamics, Inc.

Inventor： Marco da Silva ,  Benjamin Stephens ,  Alfred Anthony Rizzi ,  Yeuhi Abe

IPC: B25J9/16 ,  B62D57/032

Abstract: A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a predetermined goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.

公开(公告)号：US20210147017A1

公开(公告)日：2021-05-20

申请号：US17158748

申请日：2021-01-26

Applicant: Boston Dynamics, Inc.

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

IPC: 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：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.

公开(公告)号：US10266220B2

公开(公告)日：2019-04-23

申请号：US16166673

申请日：2018-10-22

Applicant: Boston Dynamics, Inc.

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

IPC: 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：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

IPC: F15B1/04 ,  F15B1/033 ,  F15B21/00

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