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公开(公告)号：US20230143315A1
公开(公告)日：2023-05-11
申请号：US18149588
申请日：2023-01-03
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman , Gene Brown Merewether
IPC: G06V20/10 , G05D1/10 , B62D57/02 , G06V10/44 , G06F18/243 , G06V10/764
CPC classification number: G06V20/10 , G05D1/10 , B62D57/02 , G06V10/44 , G06F18/243 , G06V10/764
Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
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公开(公告)号：US20220390952A1
公开(公告)日：2022-12-08
申请号：US17830189
申请日：2022-06-01
Applicant: BOSTON DYNAMICS, INC.
Inventor： Jeffrey Yu , Benjamin John Swilling , Eric Cary Whitman
IPC: G05D1/02 , B62D57/032
Abstract: A computer-implemented method when executed by data processing hardware causes the data processing hardware to perform operations. The operations include detecting a candidate support surface at an elevation less than a current surface supporting a legged robot. A determination is made on whether the candidate support surface includes an area of missing terrain data within a portion of an environment surrounding the legged robot, where the area is large enough to receive a touchdown placement for a leg of the legged robot. If missing terrain data is determined, at least a portion of the area of missing terrain data is classified as a no-step region of the candidate support surface. The no-step region indicates a region where the legged robot should avoid touching down a leg of the legged robot.
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公开(公告)号：US12077229B2
公开(公告)日：2024-09-03
申请号：US16877749
申请日：2020-05-19
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman
IPC: G05D1/02 , B62D57/024 , B62D57/032 , G05D1/00
CPC classification number: B62D57/024 , B62D57/032 , G05D1/0214 , G05D1/0238 , G05D1/0251 , G05D1/0274
Abstract: A method for a stair tracking for modeled and perceived terrain includes receiving, at data processing hardware, sensor data about an environment of a robot. The method also includes generating, by the data processing hardware, a set of maps based on voxels corresponding to the received sensor data. The set of maps includes a ground height map and a map of movement limitations for the robot. The map of movement limitations identifies illegal regions within the environment that the robot should avoid entering. The method further includes generating a stair model for a set of stairs within the environment based on the sensor data, merging the stair model and the map of movement limitations to generate an enhanced stair map, and controlling the robot based on the enhanced stair map or the ground height map to traverse the environment.
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公开(公告)号：US20240174310A1
公开(公告)日：2024-05-30
申请号：US18431841
申请日：2024-02-02
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman
IPC: B62D57/024 , B62D57/032
CPC classification number: B62D57/024 , B62D57/032
Abstract: A method for a stair tracking for modeled and perceived terrain includes receiving, at data processing hardware, sensor data about an environment of a robot. The method also includes generating, by the data processing hardware, a set of maps based on voxels corresponding to the received sensor data. The set of maps includes a ground height map and a map of movement limitations for the robot. The map of movement limitations identifies illegal regions within the environment that the robot should avoid entering. The method further includes generating a stair model for a set of stairs within the environment based on the sensor data, merging the stair model and the map of movement limitations to generate an enhanced stair map, and controlling the robot based on the enhanced stair map or the ground height map to traverse the environment.
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公开(公告)号：US11660752B2
公开(公告)日：2023-05-30
申请号：US17305522
申请日：2021-07-09
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman , Gene Brown Merewether , Gina Christine Fay , Benjamin Swilling
IPC: G06F17/00 , B25J9/16 , B62D57/024 , B62D57/032
CPC classification number: B25J9/1666 , B62D57/024 , B62D57/032
Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
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Patent Agency Ranking
公开(公告)号：US20250065742A1
公开(公告)日：2025-02-27
申请号：US18941996
申请日：2024-11-08
Applicant: Boston Dynamics, Inc.
Inventor： Dion Gonano , Eric Cary Whitman , Christopher Stathis , Matthew Jacob Klingensmith
Abstract: A computer-implemented method when executed by data processing hardware of a legged robot causes the data processing hardware to perform operations including receiving sensor data corresponding to an area including at least a portion of a docking station. The operations include determining an estimated pose for the docking station based on an initial pose of the legged robot relative to the docking station. The operations include identifying one or more docking station features from the received sensor data. The operations include matching the one or more identified docking station features to one or more known docking station features. The operations include adjusting the estimated pose for the docking station to a corrected pose for the docking station based on an orientation of the one or more identified docking station features that match the one or more known docking station features.
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公开(公告)号：US20210333804A1
公开(公告)日：2021-10-28
申请号：US16877721
申请日：2020-05-19
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman , Gene Brown Merewether
Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
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公开(公告)号：US20210331317A1
公开(公告)日：2021-10-28
申请号：US17305522
申请日：2021-07-09
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman , Gene Brown Merewether , Gina Christine Fay , Benjamin Swilling
IPC: B25J9/16 , B62D57/024 , B62D57/032
Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
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公开(公告)号：US11073842B1
公开(公告)日：2021-07-27
申请号：US17157500
申请日：2021-01-25
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman , Gene Brown Merewether
Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
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公开(公告)号：US12172537B2
公开(公告)日：2024-12-24
申请号：US17644696
申请日：2021-12-16
Applicant: Boston Dynamics, Inc.
Inventor： Dion Gonano , Eric Cary Whitman , Christopher Stathis , Matthew Jacob Klingensmith
Abstract: A computer-implemented method when executed by data processing hardware of a legged robot causes the data processing hardware to perform operations including receiving sensor data corresponding to an area including at least a portion of a docking station. The operations include determining an estimated pose for the docking station based on an initial pose of the legged robot relative to the docking station. The operations include identifying one or more docking station features from the received sensor data. The operations include matching the one or more identified docking station features to one or more known docking station features. The operations include adjusting the estimated pose for the docking station to a corrected pose for the docking station based on an orientation of the one or more identified docking station features that match the one or more known docking station features.
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