公开(公告)号：US20210138650A1

公开(公告)日：2021-05-13

申请号：US17157298

申请日：2021-01-25

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Gina Christine Fay ,  Benjamin Swilling

IPC: B25J9/16 ,  B62D57/024 ,  B62D57/032

Abstract: A method for negotiating stairs includes receiving image data about a robot maneuvering in an environment with stairs. Here, the robot includes two or more legs. Prior to the robot traversing the stairs, for each stair, the method further includes determining a corresponding step region based on the received image data. The step region identifies a safe placement area on a corresponding stair for a distal end of a corresponding swing leg of the robot. Also prior to the robot traversing the stairs, the method includes shifting a weight distribution of the robot towards a front portion of the robot. When the robot traverses the stairs, the method further includes, for each stair, moving the distal end of the corresponding swing leg of the robot to a target step location where the target step location is within the corresponding step region of the stair.

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：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.

公开(公告)号：US20190210673A1

公开(公告)日：2019-07-11

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

CPC classification number: B62D57/032 ,  B25J9/0006 ,  B25J9/162 ,  B25J9/1664 ,  Y10S901/01

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：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.

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.