公开(公告)号：US11691292B2

公开(公告)日：2023-07-04

申请号：US16600786

申请日：2019-10-14

Applicant: Boston Dynamics, Inc.

Inventor： Matthew Klingensmith ,  Eric Whitman ,  Marco da Silva ,  Alfred Rizzi

IPC: B25J11/00 ,  B25J9/16 ,  G05D1/02

CPC classification number: B25J11/0035 ,  B25J9/162 ,  B25J9/1694 ,  G05D1/0212

Abstract: The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.

公开(公告)号：US12134181B2

公开(公告)日：2024-11-05

申请号：US18317788

申请日：2023-05-15

Applicant: Boston Dynamics, Inc.

Inventor： Matthew Klingensmith ,  Eric Whitman ,  Marco da Silva ,  Alfred Rizzi

IPC: B25J11/00 ,  B25J9/16 ,  G05D1/00

Abstract: The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.

公开(公告)号：US20230418297A1

公开(公告)日：2023-12-28

申请号：US18337933

申请日：2023-06-20

Applicant: Boston Dynamics, Inc.

Inventor： Adam Komoroski ,  Brian Yamauchi ,  Matthew Klingensmith

IPC: G05D1/02 ,  G06T7/10 ,  B62D57/032

CPC classification number: G05D1/0214 ,  G05D1/0238 ,  G05D1/0274 ,  G06T7/10 ,  B62D57/032 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: Methods and apparatus for navigating a robot along a route through an environment, the route being associated with a mission, are provided. The method comprises identifying, based on sensor data received by one or more sensors of the robot, a set of potential obstacles in the environment, determining, based at least in part on stored data indicating a set of footfall locations of the robot during a previous execution of the mission, that at least one of the potential obstacles in the set is an obstacle, and navigating the robot to avoid stepping on the obstacle.

公开(公告)号：US20230286167A1

公开(公告)日：2023-09-14

申请号：US18317788

申请日：2023-05-15

Applicant: Boston Dynamics, Inc.

Inventor： Matthew Klingensmith ,  Eric Whitman ,  Marco da Silva ,  Alfred Rizzi

IPC: B25J11/00 ,  B25J9/16 ,  G05D1/02

CPC classification number: B25J11/0035 ,  B25J9/162 ,  B25J9/1694 ,  G05D1/0212

Abstract: The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.

公开(公告)号：US20220244741A1

公开(公告)日：2022-08-04

申请号：US17648942

申请日：2022-01-26

Applicant: Boston Dynamics, Inc

Inventor： Marco da Silva ,  Dom Jonak ,  Matthew Klingensmith ,  Samuel Seifert

IPC: G05D1/02 ,  G06V20/50 ,  G01C21/00 ,  B62D57/032

Abstract: A method includes receiving, while a robot traverses a building environment, sensor data captured by one or more sensors of the robot. The method includes receiving a building information model (BIM) for the environment that includes semantic information identifying one or more permanent objects within the environment. The method includes generating a plurality of localization candidates for a localization map of the environment. Each localization candidate corresponds to a feature of the environment identified by the sensor data and represents a potential localization reference point. The localization map is configured to localize the robot within the environment when the robot moves throughout the environment. For each localization candidate, the method includes determining whether the respective feature corresponding to the respective localization candidate is a permanent object in the environment and generating the respective localization candidate as a localization reference point in the localization map for the robot.

公开(公告)号：US20210107163A1

公开(公告)日：2021-04-15

申请号：US16600786

申请日：2019-10-14

Applicant: Boston Dynamics, Inc.

Inventor： Matthew Klingensmith ,  Eric Whiman ,  Marco da Silva ,  Alfred Rizzi

IPC: B25J11/00 ,  G05D1/02 ,  B25J9/16

Abstract: The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.