公开(公告)号：US20220260998A1

公开(公告)日：2022-08-18

申请号：US17661685

申请日：2022-05-02

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 tor 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：US10226870B1

公开(公告)日：2019-03-12

申请号：US15450977

申请日：2017-03-06

Applicant: Boston Dynamics, Inc.

Inventor： Marco Da Silva ,  Kevin Blankespoor ,  Michael Scott Rose

IPC: B25J13/08 ,  B62D57/032 ,  G05D1/08 ,  B25J9/00 ,  G01C19/5705

Abstract: An example method may include determining a requested yaw for a body of a robot, where the biped robot comprises a foot coupled to the body via a leg. The robot may then detect, via one or more sensors, a yaw rotation of the body with respect to a ground surface, where the foot is in contact with the ground surface. Based on the detected yaw rotation of the body, the robot may determine a measured yaw for the body. The robot may also determine a target yaw for the body, where the target yaw for the body is between the measured yaw for the body and the requested yaw for the body. The robot may then cause the foot to rotate the body to the target yaw for the body.