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：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：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.