-
公开(公告)号：US11407107B2
公开(公告)日：2022-08-09
申请号：US16816927
申请日：2020-03-12
Applicant: Boston Dynamics, Inc.
Inventor： Neil Neville , Kevin Blankespoor , Jennifer Barry , Alexander Douglas Perkins
Abstract: A method for palletizing includes receiving a target box location for a box grasped by the end-effector, the box having a top surface, a bottom surface, and side surfaces. The method also includes positioning the box at an initial position adjacent to the target box location and tilting the box at an angle relative to a ground plane where the angle is formed between the ground plane and the bottom surface. The method further includes shifting the box from the initial position in a first direction to a first alignment position that satisfies a threshold first alignment distance, shifting the box from the first alignment position in a second direction to the target box location that satisfies a threshold second alignment distance, and releasing the box from the end-effector. The release of the box causes the box to pivot toward a boundary edge of the target box location.
-
公开(公告)号：US20200306964A1
公开(公告)日：2020-10-01
申请号：US16816927
申请日：2020-03-12
Applicant: Boston Dynamics, Inc.
Inventor： Neil Neville , Kevin Blankespoor , Jennifer Barry , Alexander Douglas Perkins
Abstract: A method for palletizing includes receiving a target box location for a box grasped by the end-effector, the box having a top surface, a bottom surface, and side surfaces. The method also includes positioning the box at an initial position adjacent to the target box location and tilting the box at an angle relative to a ground plane where the angle is formed between the ground plane and the bottom surface. The method further includes shifting the box from the initial position in a first direction to a first alignment position that satisfies a threshold first alignment distance, shifting the box from the first alignment position in a second direction to the target box location that satisfies a threshold second alignment distance, and releasing the box from the end-effector. The release of the box causes the box to pivot toward a boundary edge of the target box location.
-
公开(公告)号：US10550860B2
公开(公告)日：2020-02-04
申请号：US15373626
申请日：2016-12-09
Applicant: Boston Dynamics, Inc.
Inventor： Alexander Douglas Perkins , Kevin Blankespoor , Alfred Anthony Rizzi
IPC: F15B11/048 , F15B13/02 , F15B9/09 , F15B21/08 , F15B15/28 , G05B19/042
Abstract: In some applications, a piston of a hydraulic actuator may move at high speeds, and large undesired forces may be generated if the piston reaches an end-stop of the hydraulic actuator at a high speed. The undesired forces may, for example, cause mechanical damage in the hydraulic actuator. A controller may receive information indicative of the piston reaching a first position at a first threshold distance from the end-stop, and, in response, may modify a signal to a valve assembly controlling flow of hydraulic fluid to and from the hydraulic actuator. Further, the controller may receive information indicative of the piston reaching a second position at a second threshold distance closer to the end-stop of the hydraulic actuator, and, in response, the controller may further modify the signal to the valve assembly so as to apply a force on the piston in a away from the end-stop.
-
公开(公告)号：US20190258274A1
公开(公告)日：2019-08-22
申请号：US15902871
申请日：2018-02-22
Applicant: Boston Dynamics, Inc.
Inventor： Alexander Douglas Perkins
Abstract: A method of operating a robot includes assuming a resting pose of the robot on a surface. The robot includes an inverted pendulum body, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one arm connected to the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The method also includes moving from the resting pose to a sitting pose by moving the counter-balance body relative to the inverted pendulum body away from the ground surface to position a center of mass of the robot substantially over the drive wheel. The method also includes moving from the sitting pose to a standing pose by altering a length of the at least one leg.
-
公开(公告)号：US11738456B2
公开(公告)日：2023-08-29
申请号：US17812825
申请日：2022-07-15
Applicant: Boston Dynamics, Inc.
Inventor： Neil Neville , Kevin Blankespoor , Jennifer Barry , Alexander Douglas Perkins
CPC classification number: B25J9/1661 , B25J5/007 , B25J9/0096 , B25J9/162 , B25J9/1612 , B25J9/1697 , B25J15/0616 , B65G57/24
Abstract: A method for palletizing by a robot includes positioning an object at an initial position adjacent to a target object location, tilting the object at an angle relative to a ground plane, shifting the object in a first direction from the initial position toward a first alignment position, shifting the object in a second direction from the first alignment position toward a second alignment position, and releasing the object from the robot to pivot the object toward the target object location.
-
Patent Agency Ranking
公开(公告)号：US11130235B2
公开(公告)日：2021-09-28
申请号：US16277034
申请日：2019-02-15
Applicant: Boston Dynamics, Inc.
Inventor： Adrianna Rodriguez , Alexander Douglas Perkins
Abstract: A method for operating a robot includes receiving a drive command to drive the robot across a work surface. The drive command includes a work mode command or a travel mode command. In response to receiving the work mode command, the method includes operating the robot in a work mode. In the work mode, the robot dynamically balances on a right drive wheel and a left drive wheel on the work surface, while keeping a non-drive wheel off of the work surface. In response to receiving the travel mode command, the method includes operating the robot in a travel mode. In the travel mode, the robot statically balances on the right drive wheel, the left drive wheel, and the non-drive wheel in contact with the work surface.
-
公开(公告)号：US20210229766A1
公开(公告)日：2021-07-29
申请号：US17229363
申请日：2021-04-13
Applicant: Boston Dynamics, Inc.
Inventor： Christopher Everett Thorne , John Aaron Saunders , Marco da Silva , Thomas H. Miller , Alexander Douglas Perkins
IPC: B62D57/032
Abstract: An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.
-
公开(公告)号：US10434651B1
公开(公告)日：2019-10-08
申请号：US15870887
申请日：2018-01-13
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Alexander Douglas Perkins
IPC: G06F19/00 , B25J9/16 , B25J17/00 , B25J9/14 , B62D57/032
Abstract: A control system of a robotic device may receive sensor data indicating at least one deviation from a nominal operating parameter of the robotic device, where the robotic device includes articulable legs that include respective actuators, and where one or more strokes of the actuators cause the articulable legs to articulate. Based on the received sensor data, the control system may determine that the at least one deviation exceeds a pre-determined threshold. In response to determining that the at least one deviation exceeds the pre-determined threshold, the control system may provide instructions for centering the one or more strokes at approximately a mid-point of extension of the actuators, and reducing a stroke length of the one or more strokes of the actuators.
-
公开(公告)号：US12130625B2
公开(公告)日：2024-10-29
申请号：US18341388
申请日：2023-06-26
Applicant: Boston Dynamics, Inc.
Inventor： Alexander Douglas Perkins , Kevin Blankespoor
IPC: G05D1/00 , B25J9/16 , B62D57/032
CPC classification number: G05D1/021 , B25J9/1664 , B62D57/032 , G05D1/0212 , Y10S901/01
Abstract: An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.
-
公开(公告)号：US20230347513A1
公开(公告)日：2023-11-02
申请号：US18349511
申请日：2023-07-10
Applicant: Boston Dynamics, Inc.
Inventor： Neil Neville , Kevin Blankespoor , Jennifer Barry , Alexander Douglas Perkins
CPC classification number: B25J9/1661 , B25J5/007 , B25J9/0096 , B25J9/1612 , B25J9/162 , B25J9/1697 , B25J15/0616 , B65G57/24
Abstract: A method for palletizing by a robot includes positioning an object at an initial position adjacent to a target object location, tilting the object at an angle relative to a ground plane, shifting the object in a first direction from the initial position toward a first alignment position, shifting the object in a second direction from the first alignment position toward a second alignment position, and releasing the object from the robot to pivot the object toward the target object location.
-
-
-
-
-
-
-
-
-
Search Results
23
records
(took 0.018 seconds)
