公开(公告)号：US20230066592A1

公开(公告)日：2023-03-02

申请号：US17898206

申请日：2022-08-29

Applicant: Boston Dynamics, Inc.

Inventor： Richard McRae Shanor ,  Stephen George Berard ,  Andrew James Barry

IPC: B25J9/16 ,  G05D1/02 ,  B62D57/032 ,  G06T7/60 ,  G06V10/764

Abstract: A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to receive sensor data associated with a door. The data processing hardware determines, using the sensor data, door properties of the door. The door properties can include a door width, a grasp search ray, a grasp type, a swing direction, or a door handedness. The data processing hardware generates a door movement operation based on the door properties. The data processing hardware can execute the door movement operation to move the door. The door movement operation can include pushing the door, pulling the door, hooking a frame of the door, or blocking the door. The data processing hardware can utilize the door movement operation to enable a robot to traverse a door without human intervention.

公开(公告)号：US11931898B2

公开(公告)日：2024-03-19

申请号：US17318435

申请日：2021-05-12

Applicant: Boston Dynamics, Inc.

Inventor： Stephen George Berard ,  Andrew James Barry ,  Benjamin John Swilling ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  G05D1/00 ,  G05D1/02 ,  B25J5/00

CPC classification number: B25J9/1661 ,  B25J9/1664 ,  G05D1/021 ,  B25J5/00 ,  B25J5/007 ,  G05B2219/40298

Abstract: A computer-implemented method, when executed by data processing hardware of a robot having an articulated arm and a base, causes data processing hardware to perform operations. The operations include determining a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot. The operations also include receiving a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location. The operations also include generating base parameters associated with the task request. The operations further include instructing, using the generated base parameters, the base of the robot to move from the current base configuration to an anticipatory base configuration.

公开(公告)号：US20220193905A1

公开(公告)日：2022-06-23

申请号：US17644840

申请日：2021-12-17

Applicant: Boston Dynamics, Inc.

Inventor： Stephen George Berard ,  Andrew James Barry ,  Matthew David Malchano ,  Benjamin John Swilling ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B62D57/032

Abstract: Data processing hardware of a robot performs operations to identify a door within an environment. A robotic manipulator of the robot grasps a feature of the door on a first side facing the robot. When the door opens in a first direction toward the robot, the robotic manipulator exerts a pull force to swing the door in the first direction, a leg of the robot moves to a position that blocks the door from swinging in the second direction, the robotic manipulator contacts the door on a second side opposite the first side, and the robotic manipulator exerts a door opening force on the second side as the robot traverses a doorway corresponding to the door. When the door opens in a second direction away from the robot, the robotic manipulator exerts the door opening force on the first side as the robot traverses the doorway.

公开(公告)号：US20220193894A1

公开(公告)日：2022-06-23

申请号：US17644945

申请日：2021-12-17

Applicant: Boston Dynamics, Inc.

Inventor： Andrew James Barry ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B25J13/00

Abstract: A computer-implemented method, executed by data processing hardware of a robot, includes receiving a three-dimensional point cloud of sensor data for a space within an environment about the robot. The method includes receiving a selection input indicating a user-selection of a target object represented in an image corresponding to the space. The target object is for grasping by an end-effector of a robotic manipulator of the robot. The method includes generating a grasp region for the end-effector of the robotic manipulator by projecting a plurality of rays from the selected target object of the image onto the three-dimensional point cloud of sensor data. The method includes determining a grasp geometry for the robotic manipulator to grasp the target object within the grasp region. The method includes instructing the end-effector of the robotic manipulator to grasp the target object within the grasp region based on the grasp geometry.

公开(公告)号：US20240189999A1

公开(公告)日：2024-06-13

申请号：US18443180

申请日：2024-02-15

Applicant: Boston Dynamics, Inc.

Inventor： Stephen George Berard ,  Andrew James Barry ,  Benjamin John Swilling ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B25J5/00

CPC classification number: B25J9/1661 ,  B25J9/1664 ,  B25J5/00 ,  B25J5/007 ,  G05B2219/40298

Abstract: A computer-implemented method, when executed by data processing hardware of a robot having an articulated arm and a base, causes data processing hardware to perform operations. The operations include determining a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot. The operations also include receiving a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location. The operations also include generating base parameters associated with the task request. The operations further include instructing, using the generated base parameters, the base of the robot to move from the current base configuration to an anticipatory base configuration.

公开(公告)号：US20220193906A1

公开(公告)日：2022-06-23

申请号：US17645042

申请日：2021-12-17

Applicant: Boston Dynamics, Inc.

Inventor： Andrew James Barry ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B25J13/06

Abstract: A computer-implemented method, executed by data processing hardware of a robot, includes receiving sensor data for a space within an environment about the robot. The method includes receiving, from a user interface (UI) in communication with the data processing hardware, a user input indicating a user-selection of a location within a two-dimensional (2D) representation of the space. The location corresponds to a position of a target object within the space. The method includes receiving, from the UI, a plurality of grasping inputs designating an orientation and a translation for an end-effector of a robotic manipulator to grasp the target object. The method includes generating a three-dimensional (3D) location of the target object based on the received sensor data and the location corresponding to the user input. The method includes instructing the end-effector to grasp the target object using the generated 3D location and the plurality of grasping inputs.

公开(公告)号：US20220193900A1

公开(公告)日：2022-06-23

申请号：US17318435

申请日：2021-05-12

Applicant: Boston Dynamics, Inc.

Inventor： Stephen George Berard ,  Andrew James Barry ,  Benjamin John Swilling ,  Alfred Anthony Rizzi

IPC: B25J9/16

Abstract: A computer-implemented method, when executed by data processing hardware of a robot having an articulated arm and a base, causes data processing hardware to perform operations. The operations include determining a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot. The operations also include receiving a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location. The operations also include generating base parameters associated with the task request. The operations further include instructing, using the generated base parameters, the base of the robot to move from the current base configuration to an anticipatory base configuration.