-
公开(公告)号：US11833680B2
公开(公告)日：2023-12-05
申请号：US17358628
申请日：2021-06-25
Applicant: Boston Dynamics, Inc.
Inventor： Robin Deits , Scott Kuindersma , Matthew P. Kelly , Twan Koolen , Yeuhi Abe , Benjamin Stephens
CPC classification number: B25J9/1602 , B25J13/08 , B62D57/02 , G05D1/0212 , G05D1/0246 , G05D2201/0217
Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
-
公开(公告)号：US20220410378A1
公开(公告)日：2022-12-29
申请号：US17358628
申请日：2021-06-25
Applicant: Boston Dynamics, Inc.
Inventor： Robin Deits , Scott Kuindersma , Matthew P. Kelly , Twan Koolen , Yeuhi Abe , Benjamin Stephens
Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
-
公开(公告)号：US11225294B1
公开(公告)日：2022-01-18
申请号：US16281204
申请日：2019-02-21
Applicant: Boston Dynamics, Inc.
Inventor： Benjamin Stephens
IPC: B25J9/16 , B62D57/032
Abstract: An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, and cause the second foot to contact the ground surface.
-
公开(公告)号：US10888999B2
公开(公告)日：2021-01-12
申请号：US16870381
申请日：2020-05-08
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Benjamin Stephens , Marco da Silva
IPC: B25J9/16 , B62D57/032
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.
-
公开(公告)号：US10093019B1
公开(公告)日：2018-10-09
申请号：US15230776
申请日：2016-08-08
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.
-
Patent Agency Ranking
公开(公告)号：US12194629B2
公开(公告)日：2025-01-14
申请号：US18494361
申请日：2023-10-25
Applicant: Boston Dynamics, Inc.
Inventor： Robin Deits , Scott Kuindersma , Matthew P. Kelly , Twan Koolen , Yeuhi Abe , Benjamin Stephens
Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
-
公开(公告)号：US20210347041A1
公开(公告)日：2021-11-11
申请号：US17443075
申请日：2021-07-20
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：US10668624B2
公开(公告)日：2020-06-02
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 , B62D57/032
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.
-
公开(公告)号：US10246151B1
公开(公告)日：2019-04-02
申请号：US15331167
申请日：2016-10-21
Applicant: Boston Dynamics, Inc.
Inventor： Benjamin Stephens
IPC: B62D57/032
Abstract: An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, cause the second foot to contact the ground surface.
-
公开(公告)号：US20230347524A1
公开(公告)日：2023-11-02
申请号：US18345405
申请日：2023-06-30
Applicant: Boston Dynamics, Inc.
Inventor： Gabriel Nelson , Benjamin Stephens
IPC: B25J9/16 , B62D57/032 , B25J19/02 , B25J13/08 , B25J5/00
CPC classification number: B25J9/1682 , B25J9/1666 , B62D57/032 , B25J19/02 , B25J13/089 , B25J5/00 , Y10S901/01
Abstract: A robotic device includes a control system. The control system receives a first measurement indicative of a first distance between a center of mass of the machine and a first position in which a first leg of the machine last made initial contact with a surface. The control system also receives a second measurement indicative of a second distance between the center of mass of the machine and a second position in which the first leg of the machine was last raised from the surface. The control system further determines a third position in which to place a second leg of the machine based on the received first measurement and the received second measurement. Additionally, the control system provides instructions to move the second leg of the machine to the determined third position.
-
-
-
-
-
-
-
-
-
Search Results
33
records
(took 0.02 seconds)
