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    Achieving a target gait behavior in a legged robot
    41.
    发明授权
    Achieving a target gait behavior in a legged robot 有权

    公开(公告)号：US10399621B2

    公开(公告)日：2019-09-03

    申请号：US16356757

    申请日：2019-03-18

    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.

    Achieving a Target Gait Behavior in a Legged Robot
    43.
    发明申请
    Achieving a Target Gait Behavior in a Legged Robot 审中-公开

    公开(公告)号：US20190054965A1

    公开(公告)日：2019-02-21

    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.

    Control of robotic devices with non-constant body pitch
    44.
    发明授权
    Control of robotic devices with non-constant body pitch 有权

    公开(公告)号：US10059392B1

    公开(公告)日：2018-08-28

    申请号：US15193273

    申请日：2016-06-27

    Applicant: Boston Dynamics, Inc.

    Inventor： Gina Christine Fay ,  Alex Yu Khripin ,  Eric Whitman

    IPC: B62D57/032

    CPC classification number: B62D57/032 ,  B25J9/16

    Abstract: An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.

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