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公开(公告)号：US20190186604A1
公开(公告)日：2019-06-20
申请号：US16286778
申请日：2019-02-27
Applicant: Boston Dynamics, Inc.
Inventor： Steven D. Potter , Zachary John Jackowski , Adam Young
IPC: F16H25/20 , B25J17/02 , B25J9/12 , B25J9/10 , B62D57/032
CPC classification number: F16H25/20 , B25J9/102 , B25J9/106 , B25J9/108 , B25J9/123 , B25J17/0241 , B62D57/032 , F16H2025/204 , F16H2025/2043 , F16H2025/2075 , Y10S901/01
Abstract: An example robot includes: a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint; a screw actuator disposed within the upper leg member, where the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut; a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft; a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier; and a linkage coupled to the carrier, where the linkage is coupled to the lower leg member at the knee joint.
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公开(公告)号：US10253855B2
公开(公告)日：2019-04-09
申请号：US15380561
申请日：2016-12-15
Applicant: Boston Dynamics, Inc.
Inventor： Steven D. Potter , Zachary John Jackowski , Adam Young
IPC: B25J9/10 , F16H25/20 , B62D57/032 , B25J9/12 , B25J17/02
Abstract: An example robot includes: a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint; a screw actuator disposed within the upper leg member, where the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut; a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft; a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier; and a linkage coupled to the carrier, where the linkage is coupled to the lower leg member at the knee joint.
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公开(公告)号：US11590013B1
公开(公告)日：2023-02-28
申请号：US16269115
申请日：2019-02-06
Applicant: Boston Dynamics, Inc.
Inventor： Christopher Everett Thorne , Steven D. Potter , Michael Patrick Murphy
Abstract: The present disclosure provides a brace system including an upper portion and a lower portion. The brace system may also include a first pulley rotatably coupling the upper portion to a first intermediate link positioned between the upper portion and the lower portion. The brace system may also include a second pulley rotatably coupling the first intermediate link to a second intermediate link positioned between the upper portion and the lower portion. The brace system may also include a third pulley rotatably coupling the second intermediate link to the lower portion. Further, the brace system may include at least one tension-bearing element substantially encircling each of the first pulley, the second pulley, and the third pulley.
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公开(公告)号：US10808736B2
公开(公告)日：2020-10-20
申请号：US16253815
申请日：2019-01-22
Applicant: Boston Dynamics, Inc.
Inventor： Steven D. Potter , John Aaron Saunders
IPC: F16K11/085 , F15B13/04 , F16K31/04 , F15B11/10
Abstract: An example valve includes a sleeve having a plurality of openings. A spool is rotatable within the sleeve and includes a respective plurality of openings corresponding to the plurality of openings of the sleeve. A rotary actuator coupled to the spool is configured for rotating the spool within the sleeve to one of at least eight rotary positions. The rotary actuator can rotate the spool to a given rotary position in a clockwise or a counter-clockwise direction to cause at least a partial alignment between a subset of the respective plurality of openings of the spool and a subset of the plurality of openings of the sleeve.
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公开(公告)号：US10231859B1
公开(公告)日：2019-03-19
申请号：US14266989
申请日：2014-05-01
Applicant: Boston Dynamics, Inc.
Inventor： Christopher Everett Thorne , Steven D. Potter , Michael Patrick Murphy
Abstract: The present disclosure provides a brace system including an upper portion and a lower portion. The brace system may also include a first pulley rotatably coupling the upper portion to a first intermediate link positioned between the upper portion and the lower portion. The brace system may also include a second pulley rotatably coupling the first intermediate link to a second intermediate link positioned between the upper portion and the lower portion. The brace system may also include a third pulley rotatably coupling the second intermediate link to the lower portion. Further, the brace system may include at least one tension-bearing element substantially encircling each of the first pulley, the second pulley, and the third pulley.
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Patent Agency Ranking
公开(公告)号：US11754155B2
公开(公告)日：2023-09-12
申请号：US17448224
申请日：2021-09-21
Applicant: Boston Dynamics, Inc.
Inventor： Steven D. Potter , Zachary John Jackowski , Adam Young
IPC: F16H25/20 , B25J9/12 , B25J17/02 , B25J9/10 , B62D57/032
CPC classification number: F16H25/20 , B25J9/102 , B25J9/106 , B25J9/108 , B25J9/123 , B25J17/0241 , B62D57/032 , F16H2025/204 , F16H2025/2043 , F16H2025/2075 , Y10S901/01
Abstract: A robot leg assembly including a hip joint and an upper leg member. A proximal end portion of the upper leg member rotatably coupled to the hip joint. The robot leg assembly including a knee joint rotatably coupled to a distal end portion of the upper leg member, a lower leg member rotatably coupled to the knee joint, a linear actuator disposed on the upper leg member and defining a motion axis, and a motor coupled to the linear actuator and a linkage coupled to the translation stage and to the lower leg member. The linear actuator includes a translation stage moveable along the motion axis to translate rotational motion of the motor to linear motion of the translation stage along the motion axis, which moves the linkage to rotate the lower leg member relative to the upper leg member at the knee joint.
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公开(公告)号：US10962033B2
公开(公告)日：2021-03-30
申请号：US16371488
申请日：2019-04-01
Applicant: Boston Dynamics, Inc.
Inventor： Michael Murphy , John Aaron Saunders , Steven D. Potter
IPC: B25J9/20 , F15B11/18 , G05D1/02 , F15B11/16 , F15B11/17 , G05D16/20 , B25J9/16 , G05D1/00 , B25J9/14
Abstract: An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.
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公开(公告)号：US20190258275A1
公开(公告)日：2019-08-22
申请号：US15902893
申请日：2018-02-22
Applicant: Boston Dynamics, Inc.
Inventor： John Aaron Saunders , Kevin Blankespoor , Steven D. Potter
Abstract: A robot includes an inverted pendulum body having first and second end portions, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg having first and second ends, and a drive wheel rotatably coupled to the second end of the at least one leg. The first end of the at least one leg is prismatically coupled to the second end portion of the inverted pendulum body.
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公开(公告)号：US20230287982A1
公开(公告)日：2023-09-14
申请号：US18183861
申请日：2023-03-14
Applicant: Boston Dynamics, Inc.
Inventor： Steven D. Potter , Christopher Everett Thorne , John Aaron Saunders
IPC: F16K11/076 , G05D1/02
CPC classification number: F16K11/076 , G05D1/021 , F15B2013/008
Abstract: The present disclosure provides: at least one component of a rotary valve subassembly; a rotary valve assembly including the rotary valve subassembly; a hydraulic circuit including the rotary valve assembly; an assembly including a robot that incorporates the hydraulic circuit; and a method of operating the rotary valve assembly. The at least one component of the rotary valve subassembly includes a spool. The at least one component of the rotary valve subassembly includes a sleeve.
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公开(公告)号：US20220003297A1
公开(公告)日：2022-01-06
申请号：US17448224
申请日：2021-09-21
Applicant: Boston Dynamics, Inc.
Inventor： Steven D. Potter , Zachary John Jackowski , Adam Young
IPC: F16H25/20 , B25J9/12 , B25J17/02 , B25J9/10 , B62D57/032
Abstract: A robot leg assembly including a hip joint and an upper leg member. A proximal end portion of the upper leg member rotatably coupled to the hip joint. The robot leg assembly including a knee joint rotatably coupled to a distal end portion of the upper leg member, a lower leg member rotatably coupled to the knee joint, a linear actuator disposed on the upper leg member and defining a motion axis, and a motor coupled to the linear actuator and a linkage coupled to the translation stage and to the lower leg member. The linear actuator includes a translation stage moveable along the motion axis to translate rotational motion of the motor to linear motion of the translation stage along the motion axis, which moves the linkage to rotate the lower leg member relative to the upper leg member at the knee joint.
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