公开(公告)号：US20220032469A1

公开(公告)日：2022-02-03

申请号：US17451669

申请日：2021-10-21

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin ,  Stephen Berard ,  Alfred Rizzi

IPC: B25J9/20 ,  B25J5/00 ,  B62D57/032 ,  F15B9/09

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.

公开(公告)号：US20210025736A1

公开(公告)日：2021-01-28

申请号：US16518191

申请日：2019-07-22

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin

IPC: G01D5/244 ,  G01D5/347 ,  B25J9/16

Abstract: A method for calibrating a position measurement system includes receiving measurement data from the position measurement system and determining that the measurement data includes periodic distortion data. The position measurement system includes a nonius track and a master track. The method also includes modifying the measurement data by decomposing the periodic distortion data into periodic components and removing the periodic components from the measurement data.

公开(公告)号：US20190022868A1

公开(公告)日：2019-01-24

申请号：US16137796

申请日：2018-09-21

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B62D57/032

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.

公开(公告)号：US20240051150A1

公开(公告)日：2024-02-15

申请号：US18467127

申请日：2023-09-14

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin ,  Stephen Berard ,  Alfred Rizzi

IPC: B25J9/20 ,  F15B9/09 ,  B62D57/032 ,  B25J5/00

CPC classification number: B25J9/20 ,  F15B9/09 ,  B62D57/032 ,  B25J5/00 ,  Y10S901/01

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.

公开(公告)号：US11465281B2

公开(公告)日：2022-10-11

申请号：US16601035

申请日：2019-10-14

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Alex Khripin

IPC: B62D57/032 ,  B25J9/16 ,  G05B13/04 ,  G06N5/00

Abstract: A dynamic planning controller receives a maneuver for a robot and a current state of the robot and transforms the maneuver and the current state of the robot into a nonlinear optimization problem. The nonlinear optimization problem is configured to optimize an unknown force and an unknown position vector. At a first time instance, the controller linearizes the nonlinear optimization problem into a first linear optimization problem and determines a first solution to the first linear optimization problem using quadratic programming. At a second time instance, the controller linearizes the nonlinear optimization problem into a second linear optimization problem based on the first solution at the first time instance and determines a second solution to the second linear optimization problem based on the first solution using the quadratic programming. The controller also generates a joint command to control motion of the robot during the maneuver based on the second solution.

公开(公告)号：US11426875B2

公开(公告)日：2022-08-30

申请号：US16858795

申请日：2020-04-27

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B62D57/032

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.

公开(公告)号：US11383381B2

公开(公告)日：2022-07-12

申请号：US16573579

申请日：2019-09-17

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Alex Khripin

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/02 ,  B62D57/032 ,  B62D57/024 ,  B62D57/028

Abstract: A method of footstep contact detection includes receiving joint dynamics for a swing leg of the robot where the swing leg performs a swing phase of a gait of the robot. The method also includes receiving odometry defining an estimation of a pose of the robot and determining whether an unexpected torque on the swing leg corresponds to an impact on the swing leg. When the unexpected torque corresponds to the impact, the method further includes determining whether the impact is indicative of a touchdown of the swing leg on a ground surface based on the odometry and the joint dynamics. When the impact is not indicative of the touchdown of the swing leg, the method includes classifying a cause of the impact based on the odometry of the robot and the joint dynamics of the swing leg.

公开(公告)号：US20220193893A1

公开(公告)日：2022-06-23

申请号：US17306990

申请日：2021-05-04

Applicant: Boston Dynamics, Inc.

Inventor： Robert Eugene Paolini ,  Alfred Anthony Rizzi ,  Navid Aghasadeghi ,  Alex Khripin

IPC: B25J9/16

Abstract: A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.

公开(公告)号：US20210107150A1

公开(公告)日：2021-04-15

申请号：US16601035

申请日：2019-10-14

Applicant: Boston Dynamics, Inc.

Inventor： Eric Whitman ,  Alex Khripin

IPC: B25J9/16 ,  G06N5/00 ,  G05B13/04

Abstract: A dynamic planning controller receives a maneuver for a robot and a current state of the robot and transforms the maneuver and the current state of the robot into a nonlinear optimization problem. The nonlinear optimization problem is configured to optimize an unknown force and an unknown position vector. At a first time instance, the controller linearizes the nonlinear optimization problem into a first linear optimization problem and determines a first solution to the first linear optimization problem using quadratic programming. At a second time instance, the controller linearizes the nonlinear optimization problem into a second linear optimization problem based on the first solution at the first time instance and determines a second solution to the second linear optimization problem based on the first solution using the quadratic programming. The controller also generates a joint command to control motion of the robot during the maneuver based on the second solution.

公开(公告)号：US20200254621A1

公开(公告)日：2020-08-13

申请号：US16858795

申请日：2020-04-27

Applicant: Boston Dynamics, Inc.

Inventor： Alex Khripin ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B62D57/032

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.