公开(公告)号：US20230359220A1

公开(公告)日：2023-11-09

申请号：US18354500

申请日：2023-07-18

Applicant: Boston Dynamics, Inc.

Inventor： Dom Jonak ,  Marco da Silva ,  Joel Chestnutt ,  Matt Klingensmith

IPC: G05D1/02 ,  G06T7/73 ,  G06T7/521 ,  G06T7/13 ,  G06T7/593 ,  G01S17/89 ,  G06V20/10

CPC classification number: G05D1/0274 ,  G06T7/74 ,  G06T7/521 ,  G06T7/13 ,  G06T7/593 ,  G01S17/89 ,  G05D1/0251 ,  G05D1/027 ,  G06V20/10 ,  G05B2219/40298 ,  G05D1/0214 ,  G06T2207/10012 ,  G06T2207/10028

Abstract: A robot includes a drive system configured to maneuver the robot about an environment and data processing hardware in communication with memory hardware and the drive system. The memory hardware stores instructions that when executed on the data processing hardware cause the data processing hardware to perform operations. The operations include receiving image data of the robot maneuvering in the environment and executing at least one waypoint heuristic. The at least one waypoint heuristic is configured to trigger a waypoint placement on a waypoint map. In response to the at least one waypoint heuristic triggering the waypoint placement, the operations include recording a waypoint on the waypoint map where the waypoint is associated with at least one waypoint edge and includes sensor data obtained by the robot. The at least one waypoint edge includes a pose transform expressing how to move between two waypoints.

公开(公告)号：US20210141389A1

公开(公告)日：2021-05-13

申请号：US17157405

申请日：2021-01-25

Applicant: Boston Dynamics, Inc.

Inventor： Dom Jonak ,  Marco da Silva ,  Joel Chestnutt ,  Matt Klingensmith

IPC: G05D1/02 ,  G06T7/73 ,  G06T7/521 ,  G06T7/13 ,  G06T7/593 ,  G01S17/89 ,  G06K9/00

Abstract: A robot includes a drive system configured to maneuver the robot about an environment and data processing hardware in communication with memory hardware and the drive system. The memory hardware stores instructions that when executed on the data processing hardware cause the data processing hardware to perform operations. The operations include receiving image data of the robot maneuvering in the environment and executing at least one waypoint heuristic. The at least one waypoint heuristic is configured to trigger a waypoint placement on a waypoint map. In response to the at least one waypoint heuristic triggering the waypoint placement, the operations include recording a waypoint on the waypoint map where the waypoint is associated with at least one waypoint edge and includes sensor data obtained by the robot. The at least one waypoint edge includes a pose transform expressing how to move between two waypoints.

公开(公告)号：US11747825B2

公开(公告)日：2023-09-05

申请号：US16295592

申请日：2019-03-07

Applicant: Boston Dynamics, Inc.

Inventor： Dom Jonak ,  Marco da Silva ,  Joel Chestnutt ,  Matt Klingensmith

IPC: G05D1/02 ,  G06T7/73 ,  G06T7/521 ,  G06T7/13 ,  G06T7/593 ,  G01S17/89 ,  G06V20/10

CPC classification number: G05D1/0274 ,  G01S17/89 ,  G05D1/027 ,  G05D1/0251 ,  G06T7/13 ,  G06T7/521 ,  G06T7/593 ,  G06T7/74 ,  G06V20/10 ,  G05B2219/40298 ,  G05D1/0214 ,  G06T2207/10012 ,  G06T2207/10028

Abstract: A robot includes a drive system configured to maneuver the robot about an environment and data processing hardware in communication with memory hardware and the drive system. The memory hardware stores instructions that when executed on the data processing hardware cause the data processing hardware to perform operations. The operations include receiving image data of the robot maneuvering in the environment and executing at least one waypoint heuristic. The at least one waypoint heuristic is configured to trigger a waypoint placement on a waypoint map. In response to the at least one waypoint heuristic triggering the waypoint placement, the operations include recording a waypoint on the waypoint map where the waypoint is associated with at least one waypoint edge and includes sensor data obtained by the robot. The at least one waypoint edge includes a pose transform expressing how to move between two waypoints.

公开(公告)号：US11656630B2

公开(公告)日：2023-05-23

申请号：US17157405

申请日：2021-01-25

Applicant: Boston Dynamics, Inc.

Inventor： Dom Jonak ,  Marco da Silva ,  Joel Chestnutt ,  Matt Klingensmith

IPC: G05D1/02 ,  G06T7/73 ,  G06T7/521 ,  G06T7/13 ,  G06T7/593 ,  G01S17/89 ,  G06V20/10

CPC classification number: G05D1/0274 ,  G01S17/89 ,  G05D1/027 ,  G05D1/0251 ,  G06T7/13 ,  G06T7/521 ,  G06T7/593 ,  G06T7/74 ,  G06V20/10 ,  G05B2219/40298 ,  G05D1/0214 ,  G06T2207/10012 ,  G06T2207/10028

Abstract: A robot includes a drive system configured to maneuver the robot about an environment and data processing hardware in communication with memory hardware and the drive system. The memory hardware stores instructions that when executed on the data processing hardware cause the data processing hardware to perform operations. The operations include receiving image data of the robot maneuvering in the environment and executing at least one waypoint heuristic. The at least one waypoint heuristic is configured to trigger a waypoint placement on a waypoint map. In response to the at least one waypoint heuristic triggering the waypoint placement, the operations include recording a waypoint on the waypoint map where the waypoint is associated with at least one waypoint edge and includes sensor data obtained by the robot. The at least one waypoint edge includes a pose transform expressing how to move between two waypoints.