公开(公告)号：US20210323152A1

公开(公告)日：2021-10-21

申请号：US16877699

申请日：2020-05-19

Applicant: Boston Dynamics, Inc.

Inventor： Robert Eugene Paolini ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B25J9/04

Abstract: A method of planning a path for an articulated arm of robot includes generating a directed graph corresponding to a joint space of the articulated arm. The directed graph includes a plurality of nodes each corresponding to a joint pose of the articulated arm. The method also includes generating a planned path from a start node associated with a start pose of the articulated arm to an end node associated with a target pose of the articulated arm. The planned path includes a series of movements along the nodes between the start node and the end node. The method also includes determining when the articulated arm can travel to a subsequent node or the target pose, terminating a movement of the articulated arm towards a target node, and initiating a subsequent movement of the articulated arm to move directly to the target pose or the subsequent node.

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：US11654559B2

公开(公告)日：2023-05-23

申请号：US17809204

申请日：2022-06-27

Applicant: Boston Dynamics, Inc.

Inventor： Robert Eugene Paolini ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B25J9/04

CPC classification number: B25J9/1664 ,  B25J9/042 ,  B25J9/161

Abstract: A method of planning a path for an articulated arm of robot includes generating a directed graph corresponding to a joint space of the articulated arm. The directed graph includes a plurality of nodes each corresponding to a joint pose of the articulated arm. The method also includes generating a planned path from a start node associated with a start pose of the articulated arm to an end node associated with a target pose of the articulated arm. The planned path includes a series of movements along the nodes between the start node and the end node. The method also includes determining when the articulated arm can travel to a subsequent node or the target pose, terminating a movement of the articulated arm towards a target node, and initiating a subsequent movement of the articulated arm to move directly to the target pose or the subsequent node.

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：US20220324108A1

公开(公告)日：2022-10-13

申请号：US17809204

申请日：2022-06-27

Applicant: Boston Dynamics, Inc.

Inventor： Robert Eugene Paolini ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B25J9/04

Abstract: A method of planning a path for an articulated arm of robot includes generating a directed graph corresponding to a joint space of the articulated arm. The directed graph includes a plurality of nodes each corresponding to a joint pose of the articulated arm. The method also includes generating a planned path from a start node associated with a start pose of the articulated arm to an end node associated with a target pose of the articulated arm. The planned path includes a series of movements along the nodes between the start node and the end node. The method also includes determining when the articulated arm can travel to a subsequent node or the target pose, terminating a movement of the articulated arm towards a target node, and initiating a subsequent movement of the articulated arm to move directly to the target pose or the subsequent node.

公开(公告)号：US11407109B2

公开(公告)日：2022-08-09

申请号：US16877699

申请日：2020-05-19

Applicant: Boston Dynamics, Inc.

Inventor： Robert Eugene Paolini ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B25J9/04

Abstract: A method of planning a path for an articulated arm of robot includes generating a directed graph corresponding to a joint space of the articulated arm. The directed graph includes a plurality of nodes each corresponding to a joint pose of the articulated arm. The method also includes generating a planned path from a start node associated with a start pose of the articulated arm to an end node associated with a target pose of the articulated arm. The planned path includes a series of movements along the nodes between the start node and the end node. The method also includes determining when the articulated arm can travel to a subsequent node or the target pose, terminating a movement of the articulated arm towards a target node, and initiating a subsequent movement of the articulated arm to move directly to the target pose or the subsequent node.

公开(公告)号：US12064879B2

公开(公告)日：2024-08-20

申请号：US18302410

申请日：2023-04-18

Applicant: Boston Dynamics, Inc.

Inventor： Robert Eugene Paolini ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B25J9/04

CPC classification number: B25J9/1664 ,  B25J9/042 ,  B25J9/161

Abstract: A method of planning a path for an articulated arm of robot includes generating a directed graph corresponding to a joint space of the articulated arm. The directed graph includes a plurality of nodes each corresponding to a joint pose of the articulated arm. The method also includes generating a planned path from a start node associated with a start pose of the articulated arm to an end node associated with a target pose of the articulated arm. The planned path includes a series of movements along the nodes between the start node and the end node. The method also includes determining when the articulated arm can travel to a subsequent node or the target pose, terminating a movement of the articulated arm towards a target node, and initiating a subsequent movement of the articulated arm to move directly to the target pose or the subsequent node.

公开(公告)号：US20230249346A1

公开(公告)日：2023-08-10

申请号：US18302410

申请日：2023-04-18

Applicant: Boston Dynamics, Inc.

Inventor： Robert Eugene Paolini ,  Alfred Anthony Rizzi

IPC: B25J9/16 ,  B25J9/04

CPC classification number: B25J9/1664 ,  B25J9/042 ,  B25J9/161

Abstract: A method of planning a path for an articulated arm of robot includes generating a directed graph corresponding to a joint space of the articulated arm. The directed graph includes a plurality of nodes each corresponding to a joint pose of the articulated arm. The method also includes generating a planned path from a start node associated with a start pose of the articulated arm to an end node associated with a target pose of the articulated arm. The planned path includes a series of movements along the nodes between the start node and the end node. The method also includes determining when the articulated arm can travel to a subsequent node or the target pose, terminating a movement of the articulated arm towards a target node, and initiating a subsequent movement of the articulated arm to move directly to the target pose or the subsequent node.

公开(公告)号：US20220388174A1

公开(公告)日：2022-12-08

申请号：US17805101

申请日：2022-06-02

Applicant: Boston Dynamics, Inc.

Inventor： Christopher Stathis ,  Dion Gonano ,  Robert Eugene Paolini ,  Adam Komoroski

IPC: B25J9/16

Abstract: A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The operations include receiving a sensor pointing command that commands the robot to use a sensor to capture sensor data of a location in an environment of the robot. The sensor is disposed on the robot. The operations include determining, based on an orientation of the sensor relative to the location, a direction for pointing the sensor toward the location, and an alignment pose of the robot to cause the sensor to point in the direction toward the location. The operations include commanding the robot to move from a current pose to the alignment pose. After the robot moves to the alignment pose and the sensor is pointing in the direction toward the location, the operations include commanding the sensor to capture the sensor data of the location in the environment.