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公开(公告)号：US20240246623A1
公开(公告)日：2024-07-25
申请号：US18587680
申请日：2024-02-26
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Alex Perkins , Marco da Silva
IPC: B62D57/02 , B25J9/16 , B25J13/08 , B62D57/032
CPC classification number: B62D57/02 , B25J9/1633 , B25J9/1653 , B25J9/1694 , B25J13/08 , B25J13/085 , B62D57/032 , Y10S901/01
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.
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公开(公告)号：US11654984B2
公开(公告)日：2023-05-23
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 , B25J13/08 , B62D57/032 , B25J9/16
CPC classification number: B62D57/02 , B25J9/1633 , B25J9/1653 , B25J9/1694 , B25J13/08 , B25J13/085 , B62D57/032 , G05D1/021 , G05D1/027 , Y10S901/01
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.
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公开(公告)号：US11407107B2
公开(公告)日：2022-08-09
申请号：US16816927
申请日：2020-03-12
Applicant: Boston Dynamics, Inc.
Inventor： Neil Neville , Kevin Blankespoor , Jennifer Barry , Alexander Douglas Perkins
Abstract: A method for palletizing includes receiving a target box location for a box grasped by the end-effector, the box having a top surface, a bottom surface, and side surfaces. The method also includes positioning the box at an initial position adjacent to the target box location and tilting the box at an angle relative to a ground plane where the angle is formed between the ground plane and the bottom surface. The method further includes shifting the box from the initial position in a first direction to a first alignment position that satisfies a threshold first alignment distance, shifting the box from the first alignment position in a second direction to the target box location that satisfies a threshold second alignment distance, and releasing the box from the end-effector. The release of the box causes the box to pivot toward a boundary edge of the target box location.
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公开(公告)号：US20220055228A1
公开(公告)日：2022-02-24
申请号：US17453187
申请日：2021-11-02
Applicant: Boston Dynamics, Inc.
Inventor： Zachary Jackowski , Kevin Blankespoor , John Aaron Saunders , Francis M. Agresti
IPC: B25J13/08 , B25J9/16 , B62D57/032
Abstract: Example methods and devices for touch-down detection for a robotic device are described herein. In an example embodiment, a computing system may receive a force signal due to a force experienced at a limb of a robotic device. The system may receive an output signal from a sensor of the end component of the limb. Responsive to the received signals, the system may determine whether the force signal satisfies a first threshold and determine whether the output signal satisfies a second threshold. Based on at least one of the force signal satisfying the first threshold or the output signal satisfying the second threshold, the system of the robotic device may provide a touch-down output indicating touch-down of the end component of the limb with a portion of an environment.
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公开(公告)号：US20200306964A1
公开(公告)日：2020-10-01
申请号：US16816927
申请日：2020-03-12
Applicant: Boston Dynamics, Inc.
Inventor： Neil Neville , Kevin Blankespoor , Jennifer Barry , Alexander Douglas Perkins
Abstract: A method for palletizing includes receiving a target box location for a box grasped by the end-effector, the box having a top surface, a bottom surface, and side surfaces. The method also includes positioning the box at an initial position adjacent to the target box location and tilting the box at an angle relative to a ground plane where the angle is formed between the ground plane and the bottom surface. The method further includes shifting the box from the initial position in a first direction to a first alignment position that satisfies a threshold first alignment distance, shifting the box from the first alignment position in a second direction to the target box location that satisfies a threshold second alignment distance, and releasing the box from the end-effector. The release of the box causes the box to pivot toward a boundary edge of the target box location.
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Patent Agency Ranking
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.
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公开(公告)号：US10550860B2
公开(公告)日：2020-02-04
申请号：US15373626
申请日：2016-12-09
Applicant: Boston Dynamics, Inc.
Inventor： Alexander Douglas Perkins , Kevin Blankespoor , Alfred Anthony Rizzi
IPC: F15B11/048 , F15B13/02 , F15B9/09 , F15B21/08 , F15B15/28 , G05B19/042
Abstract: In some applications, a piston of a hydraulic actuator may move at high speeds, and large undesired forces may be generated if the piston reaches an end-stop of the hydraulic actuator at a high speed. The undesired forces may, for example, cause mechanical damage in the hydraulic actuator. A controller may receive information indicative of the piston reaching a first position at a first threshold distance from the end-stop, and, in response, may modify a signal to a valve assembly controlling flow of hydraulic fluid to and from the hydraulic actuator. Further, the controller may receive information indicative of the piston reaching a second position at a second threshold distance closer to the end-stop of the hydraulic actuator, and, in response, the controller may further modify the signal to the valve assembly so as to apply a force on the piston in a away from the end-stop.
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公开(公告)号：US10220518B2
公开(公告)日：2019-03-05
申请号：US15296094
申请日：2016-10-18
Applicant: Boston Dynamics, Inc.
Inventor： Zachary Jackowski , Kevin Blankespoor , John Aaron Saunders , Francis M. Agresti
IPC: B25J13/08 , B25J9/16 , B62D57/032
Abstract: Example methods and devices for touch-down detection for a robotic device are described herein. In an example embodiment, a computing system may receive a force signal due to a force experienced at a limb of a robotic device. The system may receive an output signal from a sensor of the end component of the limb. Responsive to the received signals, the system may determine whether the force signal satisfies a first threshold and determine whether the output signal satisfies a second threshold. Based on at least one of the force signal satisfying the first threshold or the output signal satisfying the second threshold, the system of the robotic device may provide a touch-down output indicating touch-down of the end component of the limb with a portion of an environment.
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公开(公告)号：US20230406429A1
公开(公告)日：2023-12-21
申请号：US18457996
申请日：2023-08-29
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Marco da Silva
IPC: B62D57/02 , B25J9/16 , G01L5/00 , B62D57/032
CPC classification number: B62D57/02 , B25J9/1633 , G01L5/0028 , B62D57/032 , Y10S901/01 , G05B2219/41163 , G05B2219/41021 , G05B2219/41005 , G05B2219/41006 , G05B2219/41025
Abstract: An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.
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公开(公告)号：US20220347845A1
公开(公告)日：2022-11-03
申请号：US17812825
申请日：2022-07-15
Applicant: Boston Dynamics, Inc.
Inventor： Neil Neville , Kevin Blankespoor , Jennifer Barry , Alexander Douglas Perkins
Abstract: A method for palletizing by a robot includes positioning an object at an initial position adjacent to a target object location, tilting the object at an angle relative to a ground plane, shifting the object in a first direction from the initial position toward a first alignment position, shifting the object in a second direction from the first alignment position toward a second alignment position, and releasing the object from the robot to pivot the object toward the target object location.
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