公开(公告)号：WO2021216233A1

公开(公告)日：2021-10-28

申请号：PCT/US2021/022879

申请日：2021-03-18

Applicant: BOSTON DYNAMICS, INC.

Inventor： FAY, Gina ,  CHESTNUTT, Joel ,  DA SILVA, Marco ,  RIZZI, Alfred, Anthony

IPC: G05D1/02 ,  G01C21/00

Abstract: A method for constraining robot autonomy language includes receiving a navigation command (44) to navigate a robot (10) to a mission destination (46) within an environment (8) of the robot and generating a route specification (200) for navigating the robot from a current location (43) in the environment to the mission destination in the environment. The route specification includes a series of route segments (210). Each route segment in the series of route segments includes a goal region (220) for the corresponding route segment and a constraint region (230) encompassing the goal region. The constraint region establishes boundaries for the robot to remain within while traversing toward the goal region. The route segment also includes an initial path (310) for the robot to follow while traversing the corresponding route segment.

公开(公告)号：WO2022140151A1

公开(公告)日：2022-06-30

申请号：PCT/US2021/063776

申请日：2021-12-16

Applicant: BOSTON DYNAMICS, INC.

Inventor： AGHASADEGHI, Navid ,  RIZZI, Alfred, Anthony ,  FAY, Gina ,  PAOLINI, Robert, Eugene

IPC: B25J9/16 ,  G05B19/42

Abstract: A computer-implemented method (500) executed by data processing hardware (36) of a robot (10) causes the data processing hardware to perform operations. The robot includes an articulated arm (20) having an end effector (24) engaged with a constrained object (4). The operations include receiving a measured task parameter set (322) for the end effector, including position parameters (P322) defining a position of the end effector. The operations include determining, using the measured task parameter set, at least one axis of freedom and at least one constrained axis for the end effector. The operations include assigning a first impedance value (238) to the end effector along the at least one axis of freedom and a second impedance value (238) 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：WO2021216254A1

公开(公告)日：2021-10-28

申请号：PCT/US2021/024785

申请日：2021-03-30

Applicant: BOSTON DYNAMICS, INC.

Inventor： CHESTNUTT, Joel ,  FAY, Gina

IPC: G05D1/02

Abstract: A method (800) includes receiving sensor data (17) of an environment (7, 800) and generating a plurality of waypoints (510) and a plurality of edges (520) each connecting a pair of the waypoints. The method includes receiving a target destination (46) to navigate to and determining a route specification (200) based on the waypoints and corresponding edges to follow for navigating to the target destination selected from waypoints and edges previously generated. For each waypoint, the method includes generating a goal region (220) encompassing the corresponding waypoint and generating at least one constraint region (230) encompassing a goal region. The at least one constraint region establishes boundaries to remain within while traversing toward the target destination. The method includes navigating to the target destination by traversing through each goal region while maintaining within the at least one constraint region.