Boston Dynamics, Inc.

Google Inc.

Other

Boston Dymanics, Inc.

John Aaron Saunders

Steven Dickinson Potter

Michael Patrick Murphy

Christopher Everett Thorne

Zachary John Jackowski

Kevin Blankespoor

Joshua Timothy Geating

Francis M Agresti

Alex Yu Khripin

Marco Da Silva

Alexander Douglas Perkins

Thomas H Miller

Malik Hansen

Matthew Paul Meduna

Jan Komsta

Benjamin Swilling

Brian Todd Dellon

Michael Murphy

Adam Henry Borrell

Eldon L Goates

Aaron Abroff

Shervin Talebinejad

Steve Potter

Haink Tu

Vadim Chernyak

Christopher Everrett Thorne

Ian Root

Guillermo Diaz-Lankenau

Chris Hamilton

Systems and methods related to multiple degree of freedom force sensors are disclosed. One aspect of the disclosure provides a load sensor. The load sensor comprises a first plate and a second plate, a plurality of single-axis load cells including first, second, and third single-axis load cells, wherein each of the first, second, and third single-axis load cells is disposed between the first plate and the second plate and is oriented along a first axis, and a plurality of constraint joints coupled to the first plate and the second plate, the plurality of constraint joints configured to inhibit translation of the first plate relative to the second plate in directions perpendicular to the first axis and configured to inhibit rotation of the first plate relative to the second plate about the first axis.

Multiple degree of freedom force sensor

A robot comprises a mobile base, a robotic arm operatively coupled to the mobile base, and at least one interface configured to enable selective coupling to at least one accessory. The at least one interface comprises an electrical interface configured to transmit power and/or data between the robot and the at least one accessory, and a mechanical interface configured to enable physical coupling between the robot and the at least one accessory.

Integrated mobile manipulator robot with accessory interfaces

A rotary valve subassembly includes a spool and a sleeve. The spool is positioned within the sleeve and rotatable relative to the sleeve. Rotating the spool relative to the sleeve can align a scalloped recess formed into an outer side surface of the spool with an inner circumferential recess formed into an inner side surface of the sleeve to fluidly-connect a pressurized fluid source and a low pressure fluid reservoir with a hydraulic actuator.

Rotary valve assembly

Systems and methods related to intelligent grippers with individual cup control are disclosed. One aspect of the disclosure provides a method of determining grip quality between a robotic gripper and an object. The method comprises applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object, moving the object with the robotic gripper after applying the vacuum to the two or more cup assemblies, and determining, using at least one pressure sensor associated with each of the two or more cup assemblies, a grip quality between the robotic gripper and the object.

Intelligent gripper with individual cup control

An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.

Discretized valve state control for multi-level hydraulic systems

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

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.

Touch-down sensing for robotic devices

Robotic device

The present disclosure provides: at least one component of a rotary valve subassembly; a rotary valve assembly including the rotary valve subassembly; a hydraulic circuit including the rotary valve assembly; an assembly including a robot that incorporates the hydraulic circuit; and a method of operating the rotary valve assembly. The at least one component of the rotary valve subassembly includes a spool. The at least one component of the rotary valve subassembly includes a sleeve.

A robotic system includes a body including at least one attachment mechanism configured to removably couple a modular component to the body. The modular component includes at least one movable part operable to move relative to the body when the modular component is attached to the body. The system includes a communication interface coupled to the body and configured to be communicatively coupled to the modular component to receive information relating to the modular component and operation of the at least one movable part. The system includes a control system coupled to the body and the communication interface. The control system is configured to: in response to the modular component being attached to the body, receive the information from the modular component by way of the communication interface, and operate the at least one movable part of the modular component according to the information.

Modular robot system

An example system is disclosed for thermal management of batteries. The system may include a cell bank that includes first and second cell frame sections, a heat bus, and thermal interface material. The first and second cell frame sections may define opposite surfaces of the cell bank. Each cell frame section may include recesses to align battery cells for welding and provided conductive connections between the cells to create a string of cells with a combined power output. Each recess may include a divider between the battery cells to preload the cells against a thermal junction during assembly. The heat bus may be provided between the cell frame sections. The heat bus may include heat pipes that extend between the battery cells and across the cell frame sections. The thermal interface material may be positioned to transfer heat from the cells to the heat pipes at their thermal junction.

Battery thermal management system

Growing community of inventors

Arlington, MA, United States of America

John Aaron Saunders