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    Arm and body coordination
    1.
    发明授权
    Arm and body coordination 有权

    公开(公告)号：US11931898B2

    公开(公告)日：2024-03-19

    申请号：US17318435

    申请日：2021-05-12

    Applicant: Boston Dynamics, Inc.

    Inventor： Stephen George Berard ,  Andrew James Barry ,  Benjamin John Swilling ,  Alfred Anthony Rizzi

    IPC: B25J9/16 ,  G05D1/00 ,  G05D1/02 ,  B25J5/00

    CPC classification number: B25J9/1661 ,  B25J9/1664 ,  G05D1/021 ,  B25J5/00 ,  B25J5/007 ,  G05B2219/40298

    Abstract: A computer-implemented method, when executed by data processing hardware of a robot having an articulated arm and a base, causes data processing hardware to perform operations. The operations include determining a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot. The operations also include receiving a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location. The operations also include generating base parameters associated with the task request. The operations further include instructing, using the generated base parameters, the base of the robot to move from the current base configuration to an anticipatory base configuration.

    Natural pitch and roll
    2.
    发明授权
    Natural pitch and roll 有权

    公开(公告)号：US11911916B2

    公开(公告)日：2024-02-27

    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

    CPC classification number: B25J9/1694 ,  B25J9/1664 ,  B62D57/032 ,  G05B2219/39082 ,  G05B2219/39215 ,  G05B2219/39325 ,  G05D2201/0217 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46

    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.

    Door Opening Behavior
    3.
    发明申请
    Door Opening Behavior 有权

    公开(公告)号：US20220193905A1

    公开(公告)日：2022-06-23

    申请号：US17644840

    申请日：2021-12-17

    Applicant: Boston Dynamics, Inc.

    Inventor： Stephen George Berard ,  Andrew James Barry ,  Matthew David Malchano ,  Benjamin John Swilling ,  Alfred Anthony Rizzi

    IPC: B25J9/16 ,  B62D57/032

    Abstract: Data processing hardware of a robot performs operations to identify a door within an environment. A robotic manipulator of the robot grasps a feature of the door on a first side facing the robot. When the door opens in a first direction toward the robot, the robotic manipulator exerts a pull force to swing the door in the first direction, a leg of the robot moves to a position that blocks the door from swinging in the second direction, the robotic manipulator contacts the door on a second side opposite the first side, and the robotic manipulator exerts a door opening force on the second side as the robot traverses a doorway corresponding to the door. When the door opens in a second direction away from the robot, the robotic manipulator exerts the door opening force on the first side as the robot traverses the doorway.

    Supervised Autonomous Grasping
    4.
    发明申请
    Supervised Autonomous Grasping 有权

    公开(公告)号：US20220193894A1

    公开(公告)日：2022-06-23

    申请号：US17644945

    申请日：2021-12-17

    Applicant: Boston Dynamics, Inc.

    Inventor： Andrew James Barry ,  Alfred Anthony Rizzi

    IPC: B25J9/16 ,  B25J13/00

    Abstract: A computer-implemented method, executed by data processing hardware of a robot, includes receiving a three-dimensional point cloud of sensor data for a space within an environment about the robot. The method includes receiving a selection input indicating a user-selection of a target object represented in an image corresponding to the space. The target object is for grasping by an end-effector of a robotic manipulator of the robot. The method includes generating a grasp region for the end-effector of the robotic manipulator by projecting a plurality of rays from the selected target object of the image onto the three-dimensional point cloud of sensor data. The method includes determining a grasp geometry for the robotic manipulator to grasp the target object within the grasp region. The method includes instructing the end-effector of the robotic manipulator to grasp the target object within the grasp region based on the grasp geometry.

    Global Arm Path Planning with Roadmaps and Precomputed Domains
    5.
    发明申请
    Global Arm Path Planning with Roadmaps and Precomputed Domains 有权

    公开(公告)号：US20210323152A1

    公开(公告)日：2021-10-21

    申请号：US16877699

    申请日：2020-05-19

    Applicant: Boston Dynamics, Inc.

    Inventor： Robert Eugene Paolini ,  Alfred Anthony Rizzi

    IPC: B25J9/16 ,  B25J9/04

    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.

    Braking and regeneration control in a legged robot
    6.
    发明授权
    Braking and regeneration control in a legged robot 有权

    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.

    Global arm path planning with roadmaps and precomputed domains
    8.
    发明授权
    Global arm path planning with roadmaps and precomputed domains 有权

    公开(公告)号：US12064879B2

    公开(公告)日：2024-08-20

    申请号：US18302410

    申请日：2023-04-18

    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.

    GLOBAL ARM PATH PLANNING WITH ROADMAPS AND PRECOMPUTED DOMAINS
    10.
    发明公开
    GLOBAL ARM PATH PLANNING WITH ROADMAPS AND PRECOMPUTED DOMAINS 审中-公开

    公开(公告)号：US20230249346A1

    公开(公告)日：2023-08-10

    申请号：US18302410

    申请日：2023-04-18

    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.

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