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公开(公告)号：US20220371189A1
公开(公告)日：2022-11-24
申请号：US17865882
申请日：2022-07-15
Applicant: Boston Dynamics, Inc.
Inventor： John Aaron Saunders , Christopher Everett Thorne , Matthew Paul Meduna , Joshua Timothy Geating
Abstract: Systems and methods related to intelligent grippers with individual cup control are disclosed. One aspect of the disclosure provides a method of determining grip quality between a robotic gripper and an object. The method comprises applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object, moving the object with the robotic gripper after applying the vacuum to the two or more cup assemblies, and determining, using at least one pressure sensor associated with each of the two or more cup assemblies, a grip quality between the robotic gripper and the object.
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公开(公告)号：US20240342899A1
公开(公告)日：2024-10-17
申请号：US18750091
申请日：2024-06-21
Applicant: Boston Dynamics, Inc.
Inventor： Joshua Timothy Geating , Geoffrey Peyton , Christopher Everett Thorne , Jacob Webb
Abstract: Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.
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公开(公告)号：US20230182318A1
公开(公告)日：2023-06-15
申请号：US17989337
申请日：2022-11-17
Applicant: Boston Dynamics, Inc.
Inventor： Joshua Timothy Geating , Christopher Everett Thorne
CPC classification number: B25J13/082 , B25J5/007 , B25J9/163 , B25J9/1638 , B25J15/065
Abstract: Some robotic arms may include vacuum-based grippers. Detecting the seal quality between each vacuum assembly of the gripper and a grasped object may enable reactivation of some vacuum assemblies, thereby improving the grasp. One embodiment of a method may include activating each of a plurality of vacuum assemblies of a robotic gripper by supplying a vacuum to each vacuum assembly, determining, for each of the activated vacuum assemblies, a first respective seal quality of the vacuum assembly with a first grasped object, deactivating one or more of the activated vacuum assemblies based, at least in part, on the first respective seal qualities, and reactivating each of the deactivated vacuum assemblies within a reactivation interval.
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公开(公告)号：US20210339402A1
公开(公告)日：2021-11-04
申请号：US17375644
申请日：2021-07-14
Applicant: Boston Dynamics, Inc.
Inventor： John Aaron Saunders , Adam Henry Borrell , Joshua Timothy Geating
Abstract: Systems and methods related to multiple degree of freedom force sensors are disclosed. One aspect of the disclosure provides a load sensor. The load sensor comprises a first plate and a second plate, a plurality of single-axis load cells including first, second, and third single-axis load cells, wherein each of the first, second, and third single-axis load cells is disposed between the first plate and the second plate and is oriented along a first axis, and a plurality of constraint joints coupled to the first plate and the second plate, the plurality of constraint joints configured to inhibit translation of the first plate relative to the second plate in directions perpendicular to the first axis and configured to inhibit rotation of the first plate relative to the second plate about the first axis.
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Patent Agency Ranking
公开(公告)号：US12036670B2
公开(公告)日：2024-07-16
申请号：US17990292
申请日：2022-11-18
Applicant: Boston Dynamics, Inc.
Inventor： Joshua Timothy Geating , Geoffrey Peyton , Christopher Everett Thorne , Jacob Webb
Abstract: Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.
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公开(公告)号：US20230182287A1
公开(公告)日：2023-06-15
申请号：US17990292
申请日：2022-11-18
Applicant: Boston Dynamics, Inc.
Inventor： Joshua Timothy Geating , Geoffrey Peyton , Christopher Everett Thorne , Jacob Webb
Abstract: Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.
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公开(公告)号：US11407103B2
公开(公告)日：2022-08-09
申请号：US17124812
申请日：2020-12-17
Applicant: Boston Dynamics, Inc.
Inventor： John Aaron Saunders , Christopher Everrett Thorne , Matthew Paul Meduna , Joshua Timothy Geating
Abstract: Systems and methods related to intelligent grippers with individual cup control are disclosed. One aspect of the disclosure provides a method of determining grip quality between a robotic gripper and an object. The method comprises applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object, moving the object with the robotic gripper after applying the vacuum to the two or more cup assemblies, and determining, using at least one pressure sensor associated with each of the two or more cup assemblies, a grip quality between the robotic gripper and the object.
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公开(公告)号：US12251837B2
公开(公告)日：2025-03-18
申请号：US17865882
申请日：2022-07-15
Applicant: Boston Dynamics, Inc.
Inventor： John Aaron Saunders , Christopher Everett Thorne , Matthew Paul Meduna , Joshua Timothy Geating
Abstract: Systems and methods related to intelligent grippers with individual cup control are disclosed. One aspect of the disclosure provides a method of determining grip quality between a robotic gripper and an object. The method comprises applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object, moving the object with the robotic gripper after applying the vacuum to the two or more cup assemblies, and determining, using at least one pressure sensor associated with each of the two or more cup assemblies, a grip quality between the robotic gripper and the object.
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公开(公告)号：US11084174B2
公开(公告)日：2021-08-10
申请号：US17124838
申请日：2020-12-17
Applicant: Boston Dynamics, Inc.
Inventor： John Aaron Saunders , Adam Henry Borrell , Joshua Timothy Geating
Abstract: Systems and methods related to multiple degree of freedom force sensors are disclosed. One aspect of the disclosure provides a load sensor. The load sensor comprises a first plate and a second plate, a plurality of single-axis load cells including first, second, and third single-axis load cells, wherein each of the first, second, and third single-axis load cells is disposed between the first plate and the second plate and is oriented along a first axis, and a plurality of constraint joints coupled to the first plate and the second plate, the plurality of constraint joints configured to inhibit translation of the first plate relative to the second plate in directions perpendicular to the first axis and configured to inhibit rotation of the first plate relative to the second plate about the first axis.
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