Boston Dynamics, Inc.

Google Inc.

Other

Alexander Douglas Perkins

Kevin Blankespoor

Marco Da Silva

Neil Neville

John Aaron Saunders

Christopher Everett Thorne

Thomas H Miller

Jennifer Barry

Shervin Talebinejad

Matthew David Malchano

Adrianna Rodriguez

Alfred Anthony Rizzi

C Dario Bellicoso

Logan W Tutt

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.

Palletizing boxes

A method for operating a robot includes receiving a drive command to drive the robot across a work surface. The drive command includes a work mode command or a travel mode command. In response to receiving the work mode command, the method includes operating the robot in a work mode. In the work mode, the robot dynamically balances on a right drive wheel and a left drive wheel on the work surface, while keeping a non-drive wheel off of the work surface. In response to receiving the travel mode command, the method includes operating the robot in a travel mode. In the travel mode, the robot statically balances on the right drive wheel, the left drive wheel, and the non-drive wheel in contact with the work surface.

Work mode and travel mode for mobile robots

Systems and methods for determining movement of a robot are provided. A computing system of the robot receives information including an initial state of the robot and a goal state of the robot. The computing system determines, using nonlinear optimization, a candidate trajectory for the robot to move from the initial state to the goal state. The computing system determines whether the candidate trajectory is feasible. If the candidate trajectory is feasible, the computing system provides the candidate trajectory to a motion control module of the robot. If the candidate trajectory is not feasible, the computing system determines, using nonlinear optimization, a different candidate trajectory for the robot to move from the initial state to the goal state, the nonlinear optimization using one or more changed parameters.

Nonlinear trajectory optimization for robotic devices

An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.

Auto swing-height adjustment

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.

Three-piston ankle mechanism of a legged robot and associated control system

A lace lock including at least some of a lace lock base; a cam lock at least partially rotatable within a base cavity of the lace lock base; a fastener engaging a cam post of the lace lock base to maintain a lace lock cover in a position relative to the lace lock base; and a lace cord, wherein a distal end portion of the lace cord is attached or coupled to the lace lock base, wherein a proximal end portion of the lace cord is positioned through at least a portion of the lace lock base to selectively engage the cam lock if the cam lock is in the engaged position so that interaction between at least a camming surface of the cam lock resists a withdrawing force of the lace cord from the lace lock base.

Lace lock system

Auto-swing height adjustment

An assisted opening knife blade having a knife blade and at least two blade projections extending from the knife blade, wherein a proximal end of each blade projection extends beyond a side surface of the knife blade.

Assisted opening knife blade

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.

A method of operating a robot includes assuming a resting pose of the robot on a surface. 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 arm connected to 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 method also includes moving from the resting pose to a sitting pose by moving the counter-balance body relative to the inverted pendulum body away from the ground surface to position a center of mass of the robot substantially over the drive wheel. The method also includes moving from the sitting pose to a standing pose by altering a length of the at least one leg.

Mobile robot sitting and standing

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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Arlington, MA, United States of America

Alexander Douglas Perkins