公开(公告)号：US20220374024A1

公开(公告)日：2022-11-24

申请号：US17811840

申请日：2022-07-11

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Gina Christine Fay ,  Alex Khripin ,  Max Bajracharya ,  Matthew Malchano ,  Adam Komoroski ,  Christopher Stathis

IPC: G05D1/02 ,  B25J9/16 ,  B25J13/08 ,  B62D57/032

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：US20220388174A1

公开(公告)日：2022-12-08

申请号：US17805101

申请日：2022-06-02

Applicant: Boston Dynamics, Inc.

Inventor： Christopher Stathis ,  Dion Gonano ,  Robert Eugene Paolini ,  Adam Komoroski

IPC: B25J9/16

Abstract: A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The operations include receiving a sensor pointing command that commands the robot to use a sensor to capture sensor data of a location in an environment of the robot. The sensor is disposed on the robot. The operations include determining, based on an orientation of the sensor relative to the location, a direction for pointing the sensor toward the location, and an alignment pose of the robot to cause the sensor to point in the direction toward the location. The operations include commanding the robot to move from a current pose to the alignment pose. After the robot moves to the alignment pose and the sensor is pointing in the direction toward the location, the operations include commanding the sensor to capture the sensor data of the location in the environment.

公开(公告)号：US20210323618A1

公开(公告)日：2021-10-21

申请号：US16877680

申请日：2020-05-19

Applicant: Boston Dynamics, Inc.

Inventor： Adam Komoroski

IPC: B62D57/024 ,  B62D57/032 ,  G06K9/62

Abstract: A method of identifying stairs from footfalls includes receiving a plurality of footfall locations of a robot traversing an environment. Each respective footfall location indicates a location where a leg of the robot contacted a support surface. The method also includes determining a plurality of candidate footfall location pairs based on the plurality of footfall locations. The candidate footfall location pair includes a first and a second candidate footfall location. The method further includes clustering the first candidate footfall location into a first cluster group based on a height of the first candidate footfall location and clustering the second candidate footfall location into a second cluster group based on a height of the second candidate footfall location. The method additionally includes generating a stair model by representing each of the cluster groups as a corresponding stair and delineating each stair based on a respective midpoint between each adjacent cluster group.

公开(公告)号：US11416003B2

公开(公告)日：2022-08-16

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 ,  B25J9/16 ,  B25J13/08 ,  B62D57/032

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：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：US20240316762A1

公开(公告)日：2024-09-26

申请号：US18542082

申请日：2023-12-15

Applicant: Boston Dynamics, Inc.

Inventor： Matthew Jacob Klingensmith ,  Adam Komoroski ,  Brian Masao Yamauchi ,  Michael James McDonald ,  Christopher Stathis

IPC: B25J9/16 ,  B25J19/06

CPC classification number: B25J9/163 ,  B25J9/1664 ,  B25J9/1697 ,  B25J19/061 ,  B62D57/032

Abstract: Systems and methods are described for reacting to a feature in an environment of a robot based on a classification of the feature. A system can detect the feature in the environment using a first sensor on the robot. For example, the system can detect the feature using a feature detection system based on sensor data from a camera. The system can detect a mover in the environment using a second sensor on the robot. For example, the system can detect the mover using a mover detection system based on sensor data from a lidar sensor. The system can fuse the data from detecting the feature and detecting the mover to produce fused data. The system can classify the feature based on the fused data and react to the feature based on classifying the feature.

公开(公告)号：US12094195B2

公开(公告)日：2024-09-17

申请号：US16877680

申请日：2020-05-19

Applicant: Boston Dynamics, Inc.

Inventor： Adam Komoroski

IPC: G06V20/10 ,  B62D57/024 ,  B62D57/032 ,  G06F18/23 ,  G06V10/44 ,  G06V10/762

CPC classification number: G06V20/10 ,  B62D57/024 ,  B62D57/032 ,  G06F18/23 ,  G06V10/44 ,  G06V10/762

Abstract: A method of identifying stairs from footfalls includes receiving a plurality of footfall locations of a robot traversing an environment. Each respective footfall location indicates a location where a leg of the robot contacted a support surface. The method also includes determining a plurality of candidate footfall location pairs based on the plurality of footfall locations. The candidate footfall location pair includes a first and a second candidate footfall location. The method further includes clustering the first candidate footfall location into a first cluster group based on a height of the first candidate footfall location and clustering the second candidate footfall location into a second cluster group based on a height of the second candidate footfall location. The method additionally includes generating a stair model by representing each of the cluster groups as a corresponding stair and delineating each stair based on a respective midpoint between each adjacent cluster group.

公开(公告)号：US20240193936A1

公开(公告)日：2024-06-13

申请号：US18444491

申请日：2024-02-16

Applicant: Boston Dynamics, Inc.

Inventor： Adam Komoroski

IPC: G06V20/10 ,  B62D57/024 ,  B62D57/032 ,  G06F18/23 ,  G06V10/44 ,  G06V10/762

CPC classification number: G06V20/10 ,  B62D57/024 ,  B62D57/032 ,  G06F18/23 ,  G06V10/44 ,  G06V10/762

Abstract: A method of identifying stairs from footfalls includes receiving a plurality of footfall locations of a robot traversing an environment. Each respective footfall location indicates a location where a leg of the robot contacted a support surface. The method also includes determining a plurality of candidate footfall location pairs based on the plurality of footfall locations. The candidate footfall location pair includes a first and a second candidate footfall location. The method further includes clustering the first candidate footfall location into a first cluster group based on a height of the first candidate footfall location and clustering the second candidate footfall location into a second cluster group based on a height of the second candidate footfall location. The method additionally includes generating a stair model by representing each of the cluster groups as a corresponding stair and delineating each stair based on a respective midpoint between each adjacent cluster group.

公开(公告)号：US20230418297A1

公开(公告)日：2023-12-28

申请号：US18337933

申请日：2023-06-20

Applicant: Boston Dynamics, Inc.

Inventor： Adam Komoroski ,  Brian Yamauchi ,  Matthew Klingensmith

IPC: G05D1/02 ,  G06T7/10 ,  B62D57/032

CPC classification number: G05D1/0214 ,  G05D1/0238 ,  G05D1/0274 ,  G06T7/10 ,  B62D57/032 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: Methods and apparatus for navigating a robot along a route through an environment, the route being associated with a mission, are provided. The method comprises identifying, based on sensor data received by one or more sensors of the robot, a set of potential obstacles in the environment, determining, based at least in part on stored data indicating a set of footfall locations of the robot during a previous execution of the mission, that at least one of the potential obstacles in the set is an obstacle, and navigating the robot to avoid stepping on the obstacle.