公开(公告)号：US11667343B2

公开(公告)日：2023-06-06

申请号：US16433779

申请日：2019-06-06

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Nicolas Hudson ,  Yeuhi Abe ,  Jennifer Barry

IPC: B25J9/16 ,  B62D57/032 ,  B62D57/02 ,  B62D57/024

CPC classification number: B62D57/032 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1694 ,  B62D57/02 ,  B62D57/024 ,  G05B2219/40298 ,  G05D2201/0217 ,  Y10S901/01

Abstract: A robot system includes: an upper body section including one or more end-effectors; a lower body section including one or more legs; and an intermediate body section coupling the upper and lower body sections. An upper body control system operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates the one or more legs. The one or more legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The lower body control system operates the one or more legs so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.

公开(公告)号：US11124252B2

公开(公告)日：2021-09-21

申请号：US16783261

申请日：2020-02-06

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Marco da Silva

IPC: B62D57/02 ,  B25J9/16 ,  G01L5/00 ,  B62D57/032

Abstract: An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.

公开(公告)号：US20200306998A1

公开(公告)日：2020-10-01

申请号：US16363326

申请日：2019-03-25

Applicant: Boston Dynamics, Inc.

Inventor： Shervin Talebi ,  Alex Perkins ,  Kevin Blankespoor

IPC: B25J19/00 ,  B25J9/16

Abstract: A method for a multi-body controller receives steering commands for a robot to perform a given task. The robot includes an inverted pendulum body, a plurality of joints, an arm coupled to the inverted pendulum body, a leg coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the leg. With the steering commands, the method generates a wheel torque and a wheel axle force to perform the given task. The method includes receiving movement constraints for the robot and manipulation inputs configured to manipulate the arm to perform the given task. For each joint, the method generates a corresponding joint torque having an angular momentum where the joint torque satisfies the movement constraints based on the manipulation inputs, the wheel torque, and the wheel axle force. The method further includes controlling the robot to perform the given task using the joint torques.

公开(公告)号：US20200269430A1

公开(公告)日：2020-08-27

申请号：US16870381

申请日：2020-05-08

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Marco da Silva

IPC: B25J9/16 ,  B62D57/032

Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.

公开(公告)号：US10583879B1

公开(公告)日：2020-03-10

申请号：US15714534

申请日：2017-09-25

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Marco da Silva

IPC: B62D57/02 ,  B62D57/032 ,  G01L5/00 ,  B25J9/16

Abstract: An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.

公开(公告)号：US10434651B1

公开(公告)日：2019-10-08

申请号：US15870887

申请日：2018-01-13

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Alexander Douglas Perkins

IPC: G06F19/00 ,  B25J9/16 ,  B25J17/00 ,  B25J9/14 ,  B62D57/032

Abstract: A control system of a robotic device may receive sensor data indicating at least one deviation from a nominal operating parameter of the robotic device, where the robotic device includes articulable legs that include respective actuators, and where one or more strokes of the actuators cause the articulable legs to articulate. Based on the received sensor data, the control system may determine that the at least one deviation exceeds a pre-determined threshold. In response to determining that the at least one deviation exceeds the pre-determined threshold, the control system may provide instructions for centering the one or more strokes at approximately a mid-point of extension of the actuators, and reducing a stroke length of the one or more strokes of the actuators.

公开(公告)号：US10406690B1

公开(公告)日：2019-09-10

申请号：US15714451

申请日：2017-09-25

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Marco da Silva

IPC: B25J9/00 ,  B25J9/16

Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.

公开(公告)号：US10351189B2

公开(公告)日：2019-07-16

申请号：US15377559

申请日：2016-12-13

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Nicolas Hudson ,  Yeuhi Abe ,  Jennifer Barry

IPC: B62D57/032 ,  B62D57/024 ,  B25J9/16 ,  B62D57/02

Abstract: A robot system includes: an upper body section including one or more end-effectors; a lower body section including one or more legs; and an intermediate body section coupling the upper and lower body sections. An upper body control system operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates the one or more legs. The one or more legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The lower body control system operates the one or more legs so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.

公开(公告)号：US10300969B1

公开(公告)日：2019-05-28

申请号：US15443899

申请日：2017-02-27

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Marco da Silva ,  Alex Perkins

IPC: G01C22/00 ,  G05D1/00 ,  B62D57/02 ,  B25J9/16 ,  G05D1/02 ,  G05B15/00 ,  G05B19/00 ,  G06F19/00 ,  G05B19/04 ,  G05B19/18

Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.

公开(公告)号：US12172719B2

公开(公告)日：2024-12-24

申请号：US18307467

申请日：2023-04-26

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Nicolas Hudson ,  Yeuhi Abe ,  Jennifer Barry

IPC: B62D57/00 ,  B25J9/16 ,  B62D57/02 ,  B62D57/024 ,  B62D57/032

Abstract: A robot system includes: an upper body section including one or more end-effectors; a lower body section including one or more legs; and an intermediate body section coupling the upper and lower body sections. An upper body control system operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates the one or more legs. The one or more legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The lower body control system operates the one or more legs so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.