公开(公告)号：US20220193898A1

公开(公告)日：2022-06-23

申请号：US17644642

申请日：2021-12-16

Applicant: Boston Dynamics, Inc.

Inventor： Navid Aghasadeghi ,  Alfred Anthony Rizzi ,  Gina Fay ,  Robert Eugene Paolini

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155

Abstract: A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The robot includes an articulated arm having an end effector engaged with a constrained object. The operations include receiving a measured task parameter set for the end effector. The measured task parameter set includes position parameters defining a position of the end effector. The operations further include determining, using the measured task parameter set, at least one axis of freedom and at least one constrained axis for the end effector within a workspace. The operations also include assigning a first impedance value to the end effector along the at least one axis of freedom and assigning a second impedance value to the end effector along the at least one constrained axis. The operations include instructing the articulated arm to move the end effector along the at least one axis of freedom.

公开(公告)号：US11999059B2

公开(公告)日：2024-06-04

申请号：US17306990

申请日：2021-05-04

Applicant: Boston Dynamics, Inc.

Inventor： Robert Eugene Paolini ,  Alfred Anthony Rizzi ,  Navid Aghasadeghi ,  Alex Khripin

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1633 ,  B25J9/1674

Abstract: A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.

公开(公告)号：US20220193893A1

公开(公告)日：2022-06-23

申请号：US17306990

申请日：2021-05-04

Applicant: Boston Dynamics, Inc.

Inventor： Robert Eugene Paolini ,  Alfred Anthony Rizzi ,  Navid Aghasadeghi ,  Alex Khripin

IPC: B25J9/16

Abstract: A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.

公开(公告)号：US20240269838A1

公开(公告)日：2024-08-15

申请号：US18646099

申请日：2024-04-25

Applicant: Boston Dynamics, Inc.

Inventor： Robert Eugene Paolini ,  Alfred Anthony Rizzi ,  Navid Aghasadeghi ,  Alex Khripin

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1633 ,  B25J9/1674

Abstract: A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.

公开(公告)号：US20230234229A1

公开(公告)日：2023-07-27

申请号：US17994855

申请日：2022-11-28

Applicant: Boston Dynamics, Inc.

Inventor： Gina Fay ,  Navid Aghasadeghi ,  Alfred Anthony Rizzi

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/162 ,  B25J9/1676 ,  B25J9/1661

Abstract: Techniques are described that determine motion of a robot's body that will maintain an end effector within a useable workspace when the end effector moves according to a predicted future trajectory. The techniques may include determining or otherwise obtaining the predicted future trajectory of the end effector and utilizing the predicted future trajectory to determine any motion of the body that is necessary to maintain the end effector within the useable workspace. In cases where no such motion of the body is necessary because the predicted future trajectory indicates the end effector will stay within the useable workspace without motion of the body, the body may remain stationary, thereby avoiding the drawbacks caused by unnecessary motion described above. Otherwise, the body of the robot can be moved while the end effector moves to ensure that the end effector stays within the useable workspace.