公开(公告)号：US11203385B1

公开(公告)日：2021-12-21

申请号：US16393003

申请日：2019-04-24

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Alex Perkins ,  Marco da Silva

IPC: B62D57/02 ,  B25J9/16 ,  G05D1/02

Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.

公开(公告)号：US11084167B1

公开(公告)日：2021-08-10

申请号：US16108919

申请日：2018-08-22

Applicant: Boston Dynamics, Inc.

Inventor： Marco da Silva ,  Benjamin Stephens ,  Alfred Anthony Rizzi ,  Yeuhi Abe

IPC: B25J9/16 ,  B62D57/032

Abstract: A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a predetermined goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.

公开(公告)号：US20210171135A1

公开(公告)日：2021-06-10

申请号：US17158471

申请日：2021-01-26

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Alex Perkins ,  Marco da Silva

IPC: B62D57/02 ,  G05D1/02 ,  B25J9/16

Abstract: An example method may include i) determining a first distance between a pair of feet of a robot at a first time, where the pair of feet is in contact with a ground surface; ii) determining a second distance between the pair of feet of the robot at a second time, where the pair of feet remains in contact with the ground surface from the first time to the second time; iii) comparing a difference between the determined first and second distances to a threshold difference; iv) determining that the difference between determined first and second distances exceeds the threshold difference; and v) based on the determination that the difference between the determined first and second distances exceeds the threshold difference, causing the robot to react.

公开(公告)号：US10988192B1

公开(公告)日：2021-04-27

申请号：US15846726

申请日：2017-12-19

Applicant: Boston Dynamics, Inc.

Inventor： Christopher Everett Thorne ,  John Aaron Saunders ,  Marco da Silva ,  Thomas H. Miller ,  Alexander Douglas Perkins

IPC: B62D57/032 ,  B25J9/16

Abstract: An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.

公开(公告)号：US20210041878A1

公开(公告)日：2021-02-11

申请号：US16661062

申请日：2019-10-23

Applicant: Boston Dynamics, Inc.

Inventor： Samuel Seifert ,  Marco da Silva ,  Alexander Rice ,  Leland Hepler ,  Mario Bollini ,  Christopher Bentzel

IPC: G05D1/02 ,  B25J9/16 ,  B25J13/08 ,  G05D1/00

Abstract: A method for controlling a robot includes receiving image data from at least one image sensor. The image data corresponds to an environment about the robot. The method also includes executing a graphical user interface configured to display a scene of the environment based on the image data and receive an input indication indicating selection of a pixel location within the scene. The method also includes determining a pointing vector based on the selection of the pixel location. The pointing vector represents a direction of travel for navigating the robot in the environment. The method also includes transmitting a waypoint command to the robot. The waypoint command when received by the robot causes the robot to navigate to a target location. The target location is based on an intersection between the pointing vector and a terrain estimate of the robot.

公开(公告)号：US20190351555A1

公开(公告)日：2019-11-21

申请号：US16526115

申请日：2019-07-30

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Marco da Silva

IPC: B25J9/16

Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.