公开(公告)号：US20240189999A1

公开(公告)日：2024-06-13

申请号：US18443180

申请日：2024-02-15

Applicant: Boston Dynamics, Inc.

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

IPC: B25J9/16 ,  B25J5/00

CPC classification number: B25J9/1661 ,  B25J9/1664 ,  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.

公开(公告)号：US20220193900A1

公开(公告)日：2022-06-23

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

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.

公开(公告)号：US20250147517A1

公开(公告)日：2025-05-08

申请号：US18931680

申请日：2024-10-30

Applicant: Boston Dynamics, Inc.

Inventor： Benjamin John Swilling ,  Paul Simon Domanico

IPC: G05D1/622 ,  B62D57/032 ,  G05D101/15 ,  G05D109/12 ,  G06N3/092

Abstract: Techniques for determining robotic step timing and sequencing using reinforcement learning are provided. In one aspect, a method includes receiving a target trajectory for a robot and receiving a state of the robot. The method further includes generating, using a neural network, a set of gait timing parameters for the robot based, at least in part, on the state of the robot and the target trajectory and controlling movement of the robot based on the set of gait timing parameters.

公开(公告)号：US20230173671A1

公开(公告)日：2023-06-08

申请号：US18165000

申请日：2023-02-06

Applicant: Boston Dynamics, Inc.

Inventor： Alexander Samuel Graber-Tilton ,  Benjamin John Swilling

IPC: B25J9/16

CPC classification number: B25J9/1653 ,  B25J9/1664

Abstract: A method of mitigating slip conditions and estimating ground friction for a robot having a plurality of feet includes receiving a first coefficient of friction corresponding to a ground surface. The method also includes determining whether one of the plurality of feet is in contact with the ground surface, and when a first foot of the plurality feet is in contact with the ground surface, setting a second coefficient of friction associated with the first foot equal to the first coefficient of friction. The method also includes determining a measured velocity of the first foot relative to the ground surface, and adjusting the second coefficient of friction of the first foot based on the measured velocity of the foot. One of the plurality of feet of the robot applies a force on the ground surface based on the adjusted second coefficient of friction.

公开(公告)号：US20220390952A1

公开(公告)日：2022-12-08

申请号：US17830189

申请日：2022-06-01

Applicant: BOSTON DYNAMICS, INC.

Inventor： Jeffrey Yu ,  Benjamin John Swilling ,  Eric Cary Whitman

IPC: G05D1/02 ,  B62D57/032

Abstract: A computer-implemented method when executed by data processing hardware causes the data processing hardware to perform operations. The operations include detecting a candidate support surface at an elevation less than a current surface supporting a legged robot. A determination is made on whether the candidate support surface includes an area of missing terrain data within a portion of an environment surrounding the legged robot, where the area is large enough to receive a touchdown placement for a leg of the legged robot. If missing terrain data is determined, at least a portion of the area of missing terrain data is classified as a no-step region of the candidate support surface. The no-step region indicates a region where the legged robot should avoid touching down a leg of the legged robot.

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.

公开(公告)号：US11597081B2

公开(公告)日：2023-03-07

申请号：US16893739

申请日：2020-06-05

Applicant: Boston Dynamics, Inc.

Inventor： Alexander Samuel Graber-Tilton ,  Benjamin John Swilling

IPC: B25J9/16

Abstract: A method of mitigating slip conditions and estimating ground friction for a robot having a plurality of feet includes receiving a first coefficient of friction corresponding to a ground surface. The method also includes determining whether one of the plurality of feet is in contact with the ground surface, and when a first foot of the plurality feet is in contact with the ground surface, setting a second coefficient of friction associated with the first foot equal to the first coefficient of friction. The method also includes determining a measured velocity of the first foot relative to the ground surface, and adjusting the second coefficient of friction of the first foot based on the measured velocity of the foot. One of the plurality of feet of the robot applies a force on the ground surface based on the adjusted second coefficient of friction.

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.

公开(公告)号：US20210323149A1

公开(公告)日：2021-10-21

申请号：US16893739

申请日：2020-06-05

Applicant: Boston Dynamics, Inc.

Inventor： Alexander Samuel Graber-Tilton ,  Benjamin John Swilling

IPC: B25J9/16

Abstract: A method of mitigating slip conditions and estimating ground friction for a robot having a plurality of feet includes receiving a first coefficient of friction corresponding to a ground surface. The method also includes determining whether one of the plurality of feet is in contact with the ground surface, and when a first foot of the plurality feet is in contact with the ground surface, setting a second coefficient of friction associated with the first foot equal to the first coefficient of friction. The method also includes determining a measured velocity of the first foot relative to the ground surface, and adjusting the second coefficient of friction of the first foot based on the measured velocity of the foot. One of the plurality of feet of the robot applies a force on the ground surface based on the adjusted second coefficient of friction.