公开(公告)号：US12151380B2

公开(公告)日：2024-11-26

申请号：US17933066

申请日：2022-09-16

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Gina Christine Fay ,  Benjamin Swilling

IPC: G06F17/00 ,  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：US10239208B1

公开(公告)日：2019-03-26

申请号：US16106402

申请日：2018-08-21

Applicant: Boston Dynamics, Inc.

Inventor： Benjamin Swilling

IPC: B25J9/16 ,  B62D57/032

Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.

公开(公告)号：US10144465B1

公开(公告)日：2018-12-04

申请号：US16006943

申请日：2018-06-13

Applicant: Boston Dynamics, Inc.

Inventor： Benjamin Swilling ,  Eric Whitman ,  Stephen Berard ,  Alfred Anthony Rizzi ,  Alex Yu Khripin ,  Gina Christine Fay

IPC: G06F19/00 ,  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：US12097609B2

公开(公告)日：2024-09-24

申请号：US17573265

申请日：2022-01-11

Applicant: Boston Dynamics, Inc.

Inventor： Stephen Berard ,  Alex Yu Khripin ,  Benjamin Swilling

IPC: B25J13/08 ,  B62D57/032 ,  B25J19/00

CPC classification number: B25J13/085 ,  B62D57/032 ,  B25J19/0008 ,  Y10S901/01 ,  Y10S901/27 ,  Y10S901/28 ,  Y10S901/30

Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.

公开(公告)号：US12054208B2

公开(公告)日：2024-08-06

申请号：US17158748

申请日：2021-01-26

Applicant: Boston Dynamics, Inc.

Inventor： Benjamin Swilling ,  Eric Whitman ,  Stephen Berard ,  Alfred Anthony Rizzi ,  Alex Yu Khripin ,  Gina Christine Fay

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

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：US11298826B1

公开(公告)日：2022-04-12

申请号：US16139142

申请日：2018-09-24

Applicant: Boston Dynamics, Inc.

Inventor： Zachary John Jackowski ,  John Aaron Saunders ,  Benjamin Swilling

IPC: B25J9/08 ,  B25J9/14 ,  B25J9/16

Abstract: A robotic system includes a body including at least one attachment mechanism configured to removably couple a modular component to the body. The modular component includes at least one movable part operable to move relative to the body when the modular component is attached to the body. The system includes a communication interface coupled to the body and configured to be communicatively coupled to the modular component to receive information relating to the modular component and operation of the at least one movable part. The system includes a control system coupled to the body and the communication interface. The control system is configured to: in response to the modular component being attached to the body, receive the information from the modular component by way of the communication interface, and operate the at least one movable part of the modular component according to the information.

公开(公告)号：US11123869B2

公开(公告)日：2021-09-21

申请号：US17157298

申请日：2021-01-25

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Gina Christine Fay ,  Benjamin Swilling

IPC: G06F17/00 ,  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：US20200324412A1

公开(公告)日：2020-10-15

申请号：US16382390

申请日：2019-04-12

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：US20200016750A1

公开(公告)日：2020-01-16

申请号：US16579255

申请日：2019-09-23

Applicant: Boston Dynamics, Inc.

Inventor： Benjamin Swilling

IPC: B25J9/16 ,  B62D57/032

Abstract: A method for determining a step path involves obtaining a reference step path for a robot with at least three feet. The reference step path includes a set of spatial points on a surface that define respective target touchdown locations for the at least three feet. The method also involves receiving a state of the robot. The method further involves generating a reference capture point trajectory based on the reference step path. Additionally, the method involves obtaining at least two potential step paths and a corresponding capture point trajectory. Further, the method involves selecting a particular step path of the at least two potential step paths based on a relationship between the at least two potential step paths, the potential capture point trajectory, the reference step path, and the reference capture point trajectory. The method additionally involves instructing the robot to begin stepping in accordance with the particular step path.

公开(公告)号：US20250050509A1

公开(公告)日：2025-02-13

申请号：US18805204

申请日：2024-08-14

Applicant: Boston Dynamics, Inc.

Inventor： Stephen Berard ,  Alex Yu Khripin ,  Benjamin Swilling

IPC: B25J13/08 ,  B25J19/00 ,  B62D57/032

Abstract: The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.