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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：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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公开(公告)号：US12240105B2
公开(公告)日：2025-03-04
申请号：US17699523
申请日：2022-03-21
Applicant: Boston Dynamics, Inc.
Inventor： Shervin Talebi , Neil Neville , Kevin Blankespoor
Abstract: A method of estimating one or more mass characteristics of a payload manipulated by a robot includes moving the payload using the robot, determining one or more accelerations of the payload while the payload is in motion, sensing, using one or more sensors of the robot, a wrench applied to the payload while the payload is in motion, and estimating the one or more mass characteristics of the payload based, at least in part, on the determined accelerations and the sensed wrench.
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公开(公告)号：US20240217104A1
公开(公告)日：2024-07-04
申请号：US18545148
申请日：2023-12-19
Applicant: Boston Dynamics, Inc.
Inventor： Neil Neville , Kyle Edelberg , Scott Gilroy
CPC classification number: B25J9/1669 , B25J15/0616
Abstract: Methods and apparatus for controlling a robotic gripper of a robotic device are provided. The method includes activating a plurality of vacuum assemblies of the robotic gripper to grasp one or more objects, disabling one or more of the plurality of vacuum assemblies having a seal quality with the one or more objects that is less than a first threshold, assigning a score to each of the one or more disabled vacuum assemblies, reactivating the one or more disabled vacuum assemblies in an order based, at least in part, on the assigned scores, and grasping the one or more objects with the robotic gripper when a grasp quality of the robotic gripper is higher than a second threshold.
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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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Patent Agency Ranking
公开(公告)号：US20220179417A1
公开(公告)日：2022-06-09
申请号：US17652103
申请日：2022-02-23
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Gabriel Nelson , Neil Neville
IPC: G05D1/00 , B25J9/00 , B25J9/16 , B62D57/032 , G05D1/08
Abstract: A method for estimating a ground plane includes receiving a pose of a robotic device with respect to a gravity aligned reference frame, receiving one or more locations of one or more corresponding contact points between the robotic device and a ground surface, and determining a ground plane estimation of the ground surface based on the orientation of the robotic device with respect to the gravity aligned reference frame and the one or more locations of one or more corresponding contact points between the robotic device and the ground surface. The ground plane estimation includes a ground surface contour approximation. The method further includes determining a distance between a body of the robotic device and the determined ground plane estimation and causing adjustment of the pose of the robotic device with respect to the ground surface based on the determined distance and the determined ground plane estimation.
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公开(公告)号：US12240122B2
公开(公告)日：2025-03-04
申请号：US18349511
申请日：2023-07-10
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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公开(公告)号：US20220305678A1
公开(公告)日：2022-09-29
申请号：US17699523
申请日：2022-03-21
Applicant: Boston Dynamics, Inc.
Inventor： Shervin Talebi , Neil Neville , Kevin Blankespoor
Abstract: A method of estimating one or more mass characteristics of a payload manipulated by a robot includes moving the payload using the robot, determining one or more accelerations of the payload while the payload is in motion, sensing, using one or more sensors of the robot, a wrench applied to the payload while the payload is in motion, and estimating the one or more mass characteristics of the payload based, at least in part, on the determined accelerations and the sensed wrench.
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公开(公告)号：US10800049B2
公开(公告)日：2020-10-13
申请号：US15902843
申请日：2018-02-22
Applicant: Boston Dynamics, Inc.
Inventor： Neil Neville , Shervin Talebinejad
IPC: G05D1/08 , B25J9/16 , B25J19/00 , B25J3/04 , B25J5/00 , B25J9/00 , B25J9/04 , B25J13/06 , B25J15/06 , B62D57/02 , B25J13/00 , B25J13/08 , B25J18/02 , B25J18/04
Abstract: A method of maneuvering a robot includes driving the robot across a surface and turning the robot by shifting a center of mass of the robot toward a turn direction, thereby leaning the robot into the turning direction. The robot includes an inverted pendulum body, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The inverted pendulum body has first and second end portions and defines a forward drive direction. The method also includes turning the robot by at least one of moving the counter-balance body relative to the inverted pendulum body or altering a height of the at least one leg with respect to the surface.
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公开(公告)号：US20200033860A1
公开(公告)日：2020-01-30
申请号：US16596006
申请日：2019-10-08
Applicant: Boston Dynamics, Inc.
Inventor： Kevin Blankespoor , Gabriel Nelson , Neil Neville
Abstract: A method for estimating a ground plane includes receiving a pose of a robotic device with respect to a gravity aligned reference frame, receiving one or more locations of one or more corresponding contact points between the robotic device and a ground surface, and determining a ground plane estimation of the ground surface based on the orientation of the robotic device with respect to the gravity aligned reference frame and the one or more locations of one or more corresponding contact points between the robotic device and the ground surface. The ground plane estimation includes a ground surface contour approximation. The method further includes determining a distance between a body of the robotic device and the determined ground plane estimation and causing adjustment of the pose of the robotic device with respect to the ground surface based on the determined distance and the determined ground plane estimation.
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