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1.

WHOLE BODY MANIPULATION ON A LEGGED ROBOT USING DYNAMIC BALANCE

      
Application Number 18983928
Status Pending
Filing Date 2024-12-17
First Publication Date 2025-04-10
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Blankespoor, Kevin
  • Stephens, Benjamin
  • Hudson, Nicolas
  • Abe, Yeuhi
  • Barry, Jennifer

Abstract

A robot system includes: an upper body section including one or more end-effectors; a lower body section including one or more legs; and an intermediate body section coupling the upper and lower body sections. An upper body control system operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates the one or more legs. The one or more legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The lower body control system operates the one or more legs so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.

IPC Classes  ?

  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
  • B25J 9/16 - Programme controls
  • B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
  • B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

2.

DYNAMIC PERFORMANCE OF ACTIONS BY A MOBILE ROBOT BASED ON SENSOR DATA AND A SITE MODEL

      
Application Number US2024021354
Publication Number 2025/071664
Status In Force
Filing Date 2024-03-25
Publication Date 2025-04-03
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Klingensmith, Matthew, Jacob
  • Mcdonald, Michael, James
  • Agrawal, Radhika
  • Allum, Christopher, Peter
  • Shinkle, Rosalind, Fish, Blais

Abstract

Systems and methods are described for instructing performance of an action by a mobile robot based on transformed data. A system may obtain a site model in a first data format and sensor data in a second data format. The site model and/or the sensor data may be annotated. The system may transform the site model and the sensor data to generate transformed data in a third data format. The system may provide the transformed data to a computing system. For example, the system may provide the transformed data to a machine learning model. Based on the output of the computing system, the system may identify an action and instruct performance of the action by a mobile robot.

IPC Classes  ?

3.

DATA TRANSFER ASSEMBLIES FOR ROBOTIC DEVICES

      
Application Number 18975515
Status Pending
Filing Date 2024-12-10
First Publication Date 2025-03-27
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Billings, Devin
  • Meduna, Matthew

Abstract

The invention includes systems and methods for routing data packets in a robot. The method comprises routing, using a first switching device, data packets between a first host processor and a first electronic device of the robot, and routing, using the first switching device, data packets between a second host processor and a second electronic device of the robot.

IPC Classes  ?

  • G06F 13/42 - Bus transfer protocol, e.g. handshakeSynchronisation
  • B25J 19/02 - Sensing devices
  • H04L 45/00 - Routing or path finding of packets in data switching networks
  • H04L 45/42 - Centralised routing

4.

DYNAMIC PERFORMANCE OF ACTIONS BY A MOBILE ROBOT BASED ON SENSOR DATA AND A SITE MODEL

      
Application Number 18613943
Status Pending
Filing Date 2024-03-22
First Publication Date 2025-03-27
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Klingensmith, Matthew Jacob
  • Mcdonald, Michael James
  • Agrawal, Radhika
  • Allum, Christopher Peter
  • Shinkle, Rosalind Fish Blais

Abstract

Systems and methods are described for instructing performance of an action by a mobile robot based on transformed data. A system may obtain a site model in a first data format and sensor data in a second data format. The site model and/or the sensor data may be annotated. The system may transform the site model and the sensor data to generate transformed data in a third data format. The system may provide the transformed data to a computing system. For example, the system may provide the transformed data to a machine learning model. Based on the output of the computing system, the system may identify an action and instruct performance of the action by a mobile robot.

IPC Classes  ?

  • G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
  • G05D 109/12 - Land vehicles with legs
  • G06F 40/30 - Semantic analysis
  • G10L 15/22 - Procedures used during a speech recognition process, e.g. man-machine dialog

5.

GRIPPER MECHANISM

      
Application Number 18822752
Status Pending
Filing Date 2024-09-03
First Publication Date 2025-03-27
Owner Boston Dynamics, Inc. (USA)
Inventor Dellon, Brian Todd

Abstract

A gripper mechanism includes a pair of gripper jaws, a linear actuator, and a rocker bogey. The linear actuator drives a first gripper jaw to move relative to a second gripper jaw. Here, the linear actuator includes a screw shaft and a drive nut where the drive nut includes a protrusion having protrusion axis expending along a length of the protrusion. The protrusion axis is perpendicular to an actuation axis of the linear actuator along a length of the screw shaft. The rocker bogey is coupled to the drive nut at the protrusion to form a pivot point for the rocker bogey and to enable the rocker bogey to pivot about the protrusion axis when the linear actuator drives the first gripper jaw to move relative to the second gripper jaw.

IPC Classes  ?

6.

PERCEPTION MAST FOR AN INTEGRATED MOBILE MANIPULATOR ROBOT

      
Application Number 18969444
Status Pending
Filing Date 2024-12-05
First Publication Date 2025-03-20
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Turpin, Matthew
  • Zelnick, Benjamin
  • Murphy, Michael
  • Perkins, Alex

Abstract

A perception mast for mobile robot is provided. The mobile robot comprises a mobile base, a turntable operatively coupled to the mobile base, the turntable configured to rotate about a first axis, an arm operatively coupled to a first location on the turntable, and the perception mast operatively coupled to a second location on the turntable, the perception mast configured to rotate about a second axis parallel to the first axis, wherein the perception mast includes disposed thereon, a first perception module and a second perception module arranged between the first imaging module and the turntable.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B25J 5/00 - Manipulators mounted on wheels or on carriages
  • B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices

7.

ROBUST DOCKING OF ROBOTS WITH IMPERFECT SENSING

      
Application Number 18941996
Status Pending
Filing Date 2024-11-08
First Publication Date 2025-02-27
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Gonano, Dion
  • Whitman, Eric Cary
  • Stathis, Christopher
  • Klingensmith, Matthew Jacob

Abstract

A computer-implemented method when executed by data processing hardware of a legged robot causes the data processing hardware to perform operations including receiving sensor data corresponding to an area including at least a portion of a docking station. The operations include determining an estimated pose for the docking station based on an initial pose of the legged robot relative to the docking station. The operations include identifying one or more docking station features from the received sensor data. The operations include matching the one or more identified docking station features to one or more known docking station features. The operations include adjusting the estimated pose for the docking station to a corrected pose for the docking station based on an orientation of the one or more identified docking station features that match the one or more known docking station features.

IPC Classes  ?

  • B60L 53/36 - Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
  • B60L 53/16 - Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
  • B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

8.

Continuous Slip Recovery

      
Application Number 18805204
Status Pending
Filing Date 2024-08-14
First Publication Date 2025-02-13
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Berard, Stephen
  • Khripin, Alex Yu
  • Swilling, Benjamin

Abstract

The disclosure provides systems and methods for mitigating slip of a robot appendage. In one aspect, a method for mitigating slip of a robot appendage includes (i) receiving an input from one or more sensors, (ii) determining, based on the received input, an appendage position of the robot appendage, (iii) determining a filter position for the robot appendage, (iv) determining a distance between the appendage position and the filter position, (v) determining, based on the distance, a force to apply to the robot appendage, (vi) causing one or more actuators to apply the force to the robot appendage, (vii) determining whether the distance is greater than a threshold distance, and (viii) responsive to determining that the distance is greater than the threshold distance, the control system adjusting the filter position to a position, which is the threshold distance from the appendage position, for use in a next iteration.

IPC Classes  ?

  • B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
  • B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid

9.

SYSTEMS AND METHODS FOR PROVIDING MODULAR ARCHITECTURES FOR ROBOTIC END EFFECTORS

      
Application Number 18359349
Status Pending
Filing Date 2023-07-26
First Publication Date 2025-01-30
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Geating, Joshua
  • Thorne, Christopher
  • Jenko, Alexander
  • Bursal, Faruk
  • Demas, Nickolas
  • Baniszewski, Beth

Abstract

A robotic gripper includes a first modular component comprising a set of deformable members, such as a set of vacuum cups or foam members. The robotic gripper also includes a second modular component comprising a set of vacuum valves. Each vacuum valve in the set of vacuum valves is fluidly connected to at least one deformable member in the set of deformable members.

IPC Classes  ?

  • B25J 15/06 - Gripping heads with vacuum or magnetic holding means
  • B65G 47/91 - Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers

10.

SYSTEMS AND METHODS FOR PROVIDING MODULAR ARCHITECTURES FOR ROBOTIC END EFFECTORS

      
Application Number US2024039523
Publication Number 2025/024647
Status In Force
Filing Date 2024-07-25
Publication Date 2025-01-30
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Geating, Joshua
  • Thorne, Christopher
  • Jenko, Alexander
  • Bursal, Faruk
  • Baniszewski, Beth
  • Demas, Nickolas

Abstract

A robotic gripper includes a first modular component comprising a set of deformable members, such as a set of vacuum cups or foam members. The robotic gripper also includes a second modular component comprising a set of vacuum valves. Each vacuum valve in the set of vacuum valves is fluidly connected to at least one deformable member in the set of deformable members.

IPC Classes  ?

  • B25J 5/00 - Manipulators mounted on wheels or on carriages
  • B25J 15/00 - Gripping heads
  • B25J 15/06 - Gripping heads with vacuum or magnetic holding means

11.

Adaptive method for biometrically certified communication

      
Application Number 17154597
Grant Number 12210600
Status In Force
Filing Date 2021-01-21
First Publication Date 2025-01-28
Grant Date 2025-01-28
Owner Google Technology Holdings LLC (USA)
Inventor
  • Slaby, Jiri
  • Ady, Roger W.

Abstract

A recipient communication device and method wherein a user authenticates a message that is being received. The method includes receiving, by a messaging utility of the recipient communication device, a message transmitted from a sender communication device. The messaging utility determines that one of (a) sender authentication of the message and (b) recipient authentication to open the message is required. In response to sender authentication being required, the recipient communication device transmits a request to the sender communication device for sender authentication of the message, and receives a certification of the message based on an authentication of a user input via the sender communication device. When recipient authentication is required, the recipient is prompted to enter biometric input at the recipient device. In one embodiment, a clearinghouse service authenticates a user of a communication device in order for the recipient communication device to receive certification of the user and/or the message.

IPC Classes  ?

  • H04L 9/40 - Network security protocols
  • G06F 21/32 - User authentication using biometric data, e.g. fingerprints, iris scans or voiceprints
  • G06F 21/64 - Protecting data integrity, e.g. using checksums, certificates or signatures
  • H04L 9/32 - Arrangements for secret or secure communicationsNetwork security protocols including means for verifying the identity or authority of a user of the system
  • H04W 12/069 - Authentication using certificates or pre-shared keys

12.

MANIPULATING BOXES USING A ZONED GRIPPER

      
Application Number 18811123
Status Pending
Filing Date 2024-08-21
First Publication Date 2024-12-12
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Chitta, Sachin
  • Hershberger, David
  • Pauwels, Karl

Abstract

A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.

IPC Classes  ?

  • B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J 9/16 - Programme controls
  • B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
  • B25J 15/06 - Gripping heads with vacuum or magnetic holding means
  • B66F 9/02 - Stationary loaders or unloaders, e.g. for sacks

13.

LOCATION BASED CHANGE DETECTION WITHIN IMAGE DATA BY A MOBILE ROBOT

      
Application Number 18541874
Status Pending
Filing Date 2023-12-15
First Publication Date 2024-11-14
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Ryde, Julian
  • Dong, Yi
  • Da Silva, Marco
  • Stathis, Christopher
  • Ramachandran, Karthik

Abstract

Systems and methods are described for detecting changes at a location based on image data by a mobile robot. A system can instruct navigation of the mobile robot to a location. For example, the system can instruct navigation to the location as part of an inspection mission. The system can obtain input identifying a change detection. Based on the change detection and obtained image data associated with the location, the system can perform the change detection and detect a change associated with the location. For example, the system can perform the change detection based on one or more regions of interest of the obtained image data. Based on the detected change and a reference model, the system can determine presence of an anomaly condition in the obtained image data.

IPC Classes  ?

  • G05D 1/689 - Pointing payloads towards fixed or moving targets
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
  • G06T 7/00 - Image analysis
  • G06T 7/70 - Determining position or orientation of objects or cameras

14.

LOCATION BASED CHANGE DETECTION WITHIN IMAGE DATA BY A MOBILE ROBOT

      
Application Number US2023084269
Publication Number 2024/232947
Status In Force
Filing Date 2023-12-15
Publication Date 2024-11-14
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Ryde, Julian
  • Dong, Yi
  • Da Silva, Marco
  • Stathis, Christopher
  • Ramachandran, Karthik

Abstract

Systems and methods are described for detecting changes at a location based on image data by a mobile robot. A system can instruct navigation of the mobile robot to a location. For example, the system can instruct navigation to the location as part of an inspection mission. The system can obtain input identifying a change detection. Based on the change detection and obtained image data associated with the location, the system can perform the change detection and detect a change associated with the location. For example, the system can perform the change detection based on one or more regions of interest of the obtained image data. Based on the detected change and a reference model, the system can determine presence of an anomaly condition in the obtained image data.

IPC Classes  ?

  • G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D 1/225 - Remote-control arrangements operated by off-board computers
  • G05D 1/229 - Command input data, e.g. waypoints
  • G05D 1/249 - Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
  • G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
  • G05D 1/689 - Pointing payloads towards fixed or moving targets

15.

Dynamic Planning Controller

      
Application Number 18774604
Status Pending
Filing Date 2024-07-16
First Publication Date 2024-11-07
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Whitman, Eric
  • Khripin, Alex

Abstract

A dynamic planning controller receives a maneuver for a robot and a current state of the robot and transforms the maneuver and the current state of the robot into a nonlinear optimization problem. The nonlinear optimization problem is configured to optimize an unknown force and an unknown position vector. At a first time instance, the controller linearizes the nonlinear optimization problem into a first linear optimization problem and determines a first solution to the first linear optimization problem using quadratic programming. At a second time instance, the controller linearizes the nonlinear optimization problem into a second linear optimization problem based on the first solution at the first time instance and determines a second solution to the second linear optimization problem based on the first solution using the quadratic programming. The controller also generates a joint command to control motion of the robot during the maneuver based on the second solution.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • G05B 13/04 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
  • G06N 5/01 - Dynamic search techniquesHeuristicsDynamic treesBranch-and-bound

16.

LIGHT OUTPUT USING LIGHT SOURCES OF A ROBOT

      
Application Number 18640544
Status Pending
Filing Date 2024-04-19
First Publication Date 2024-10-31
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Dellon, Brian Todd
  • Vicentini, Federico
  • Needleman, John Frederick
  • Hepler, Leland
  • Bollini, Mario
  • Robert, David Yann

Abstract

Systems and methods are described for outputting light and/or audio using one or more light and/or audio sources of a robot. The light sources may be located on one or more legs of the robot, a bottom portion of the robot, and/or a top portion of the robot. The audio sources may include a speaker and/or an audio resonator. A system can obtain sensor data associated with an environment of the robot. Based on the sensor data, the system can identify an alert. For example, the system can identify an entity based on the sensor data and identify an alert for the entity. The system can instruct an output of light and/or audio indicative of the alert using the one or more light and/or audio sources. The system can adjust parameters of the output based on the sensor data.

IPC Classes  ?

17.

Object-Based Robot Control

      
Application Number 18761998
Status Pending
Filing Date 2024-07-02
First Publication Date 2024-10-24
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Bollini, Mario
  • Hepler, Leland

Abstract

A method includes receiving sensor data for an environment about the robot. The sensor data is captured by one or more sensors of the robot. The method includes detecting one or more objects in the environment using the received sensor data. For each detected object, the method includes authoring an interaction behavior indicating a behavior that the robot is capable of performing with respect to the corresponding detected object. The method also includes augmenting a localization map of the environment to reflect the respective interaction behavior of each detected object.

IPC Classes  ?

18.

LIGHT AND/OR AUDIO OUTPUT USING LIGHT AND/OR AUDIO SOURCES OF A ROBOT

      
Application Number US2024025417
Publication Number 2024/220811
Status In Force
Filing Date 2024-04-19
Publication Date 2024-10-24
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Dellon, Brian Todd
  • Vicentini, Federico
  • Needleman, John Frederick
  • Hepler, Leland
  • Bollini, Mario
  • Robert, David Yann

Abstract

Systems and methods are described for outputting light and/or audio using one or more light and/or audio sources of a robot. The light sources may be located on one or more legs of the robot, a bottom portion of the robot, and/or a top portion of the robot. The audio sources may include a speaker and/or an audio resonator. A system can obtain sensor data associated with an environment of the robot. Based on the sensor data, the system can identify an alert. For example, the system can identify an entity based on the sensor data and identify an alert for the entity. The system can instruct an output of light and/or audio indicative of the alert using the one or more light and/or audio sources. The system can adjust parameters of the output based on the sensor data.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
  • B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
  • G05D 109/12 - Land vehicles with legs

19.

SYSTEMS AND METHODS FOR ACTUATION OF A ROBOTIC MANIPULATOR

      
Application Number 18750091
Status Pending
Filing Date 2024-06-21
First Publication Date 2024-10-17
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Geating, Joshua Timothy
  • Peyton, Geoffrey
  • Thorne, Christopher Everett
  • Webb, Jacob

Abstract

Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.

IPC Classes  ?

  • B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J 17/02 - Wrist joints

20.

RECOGNIZING ACCENTED SPEECH

      
Application Number 18748464
Status Pending
Filing Date 2024-06-20
First Publication Date 2024-10-10
Owner Google Technology Holdings LLC (USA)
Inventor Gray, Kristin A.

Abstract

Techniques and apparatuses for recognizing accented speech are described. In some embodiments, an accent module recognizes accented speech using an accent library based on device data, uses different speech recognition correction levels based on an application field into which recognized words are set to be provided, or updates an accent library based on corrections made to incorrectly recognized speech.

IPC Classes  ?

  • G10L 15/00 - Speech recognition
  • G06F 40/174 - Form fillingMerging
  • G10L 15/01 - Assessment or evaluation of speech recognition systems
  • G10L 15/06 - Creation of reference templatesTraining of speech recognition systems, e.g. adaptation to the characteristics of the speaker's voice
  • G10L 15/187 - Phonemic context, e.g. pronunciation rules, phonotactical constraints or phoneme n-grams
  • G10L 15/22 - Procedures used during a speech recognition process, e.g. man-machine dialog
  • G10L 15/30 - Distributed recognition, e.g. in client-server systems, for mobile phones or network applications

21.

ENVIRONMENTAL FEATURE-SPECIFIC ACTIONS FOR ROBOT NAVIGATION

      
Application Number US2023084418
Publication Number 2024/205673
Status In Force
Filing Date 2023-12-15
Publication Date 2024-10-03
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Klingensmith, Matthew Jacob
  • Komoroski, Adam
  • Yamauchi, Brian Masao
  • Mcdonald, Michael James
  • Stathis, Christopher

Abstract

Systems and methods are described for reacting to a feature in an environment of a robot based on a classification of the feature. A system can detect the feature in the environment using a first sensor on the robot. For example, the system can detect the feature using a feature detection system based on sensor data from a camera. The system can detect a mover in the environment using a second sensor on the robot. For example, the system can detect the mover using a mover detection system based on sensor data from a lidar sensor. The system can fuse the data from detecting the feature and detecting the mover to produce fused data. The system can classify the feature based on the fused data and react to the feature based on classifying the feature.

IPC Classes  ?

  • G05D 1/43 - Control of position or course in two dimensions

22.

ENVIRONMENTAL FEATURE-SPECIFIC ACTIONS FOR ROBOT NAVIGATION

      
Application Number 18542082
Status Pending
Filing Date 2023-12-15
First Publication Date 2024-09-26
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Klingensmith, Matthew Jacob
  • Komoroski, Adam
  • Yamauchi, Brian Masao
  • Mcdonald, Michael James
  • Stathis, Christopher

Abstract

Systems and methods are described for reacting to a feature in an environment of a robot based on a classification of the feature. A system can detect the feature in the environment using a first sensor on the robot. For example, the system can detect the feature using a feature detection system based on sensor data from a camera. The system can detect a mover in the environment using a second sensor on the robot. For example, the system can detect the mover using a mover detection system based on sensor data from a lidar sensor. The system can fuse the data from detecting the feature and detecting the mover to produce fused data. The system can classify the feature based on the fused data and react to the feature based on classifying the feature.

IPC Classes  ?

23.

PERCEPTION SYSTEM FOR A LOWER BODY POWERED EXOSKELETON

      
Application Number US2023085095
Publication Number 2024/196444
Status In Force
Filing Date 2023-12-20
Publication Date 2024-09-26
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Talebi, Shervin
  • Tao, Ran
  • Saunders, John Aaron
  • Hyun, Dong Jin
  • Park, Sang In

Abstract

Systems and methods for a perception system for a lower body powered exoskeleton device are provided. The perception system includes a camera configured to capture one or more images of terrain in proximity to the exoskeleton device, an at least one processor. The at least one processor is programmed to perform footstep planning for the exoskeleton device based, at least in part, on the captured one or more images of terrain, and issue an instruction to perform a first action based, at least in part, on the footstep planning.

IPC Classes  ?

  • A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
  • A61H 1/02 - Stretching or bending apparatus for exercising
  • A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
  • B25J 9/00 - Programme-controlled manipulators
  • A61B 5/00 - Measuring for diagnostic purposes Identification of persons
  • A61F 5/01 - Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
  • G06V 20/10 - Terrestrial scenes
  • A61H 3/02 - Crutches

24.

TRANSMISSION WITH INTEGRATED OVERLOAD PROTECTION FOR A LEGGED ROBOT

      
Application Number 18421354
Status Pending
Filing Date 2024-01-24
First Publication Date 2024-09-12
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Jackowski, Zachary John
  • Young, Adam

Abstract

An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.

IPC Classes  ?

  • F16D 7/02 - Slip couplings, e.g. slipping on overload, for absorbing shock of the friction type
  • B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J 19/06 - Safety devices
  • F16H 25/20 - Screw mechanisms
  • F16H 35/10 - Arrangements or devices for absorbing overload or preventing damage by overload
  • F16H 49/00 - Other gearing

25.

METHODS AND APPARATUS FOR MODELING LOADING DOCK ENVIRONMENTS

      
Application Number 18545334
Status Pending
Filing Date 2023-12-19
First Publication Date 2024-09-12
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Broad, Alex
  • Ramachandran, Karthik
  • Dong, Yi

Abstract

Methods and apparatus for operating a mobile robot in a loading dock environment are provided. The method comprises capturing, by a camera system of the mobile robot, at least one image of the loading dock environment, and processing, by at least one hardware processor of the mobile robot, the at least one image using a machine learning model trained to identify one or more features of the loading dock environment.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B25J 5/00 - Manipulators mounted on wheels or on carriages
  • G05D 1/243 - Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
  • G05D 107/70 - Industrial sites, e.g. warehouses or factories
  • G06T 17/10 - Volume description, e.g. cylinders, cubes or using CSG [Constructive Solid Geometry]
  • G06V 10/40 - Extraction of image or video features
  • G06V 10/70 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning
  • G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle

26.

METHODS AND APPARATUS FOR REDUCING MULTIPATH ARTIFACTS FOR A CAMERA SYSTEM OF A MOBILE ROBOT

      
Application Number 18545559
Status Pending
Filing Date 2023-12-19
First Publication Date 2024-09-12
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Turpin, Matthew
  • Hoelscher, Andrew
  • Merkle, Lukas

Abstract

Methods and apparatus for determining a pose of an object sensed by a camera system of a mobile robot are described. The method includes acquiring, using the camera system, a first image of the object from a first perspective and a second image of the object from a second perspective, and determining, by a processor of the camera system, a pose of the object based, at least in part, on a first set of sparse features associated with the object detected in the first image and a second set of sparse features associated with the object detected in the second image.

IPC Classes  ?

  • G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
  • G06T 7/13 - Edge detection
  • G06T 7/521 - Depth or shape recovery from laser ranging, e.g. using interferometryDepth or shape recovery from the projection of structured light
  • G06T 7/55 - Depth or shape recovery from multiple images

27.

SYSTEMS AND METHODS FOR GRASPING AND PLACING MULTIPLE OBJECTS WITH A ROBOTIC GRIPPER

      
Application Number 18545239
Status Pending
Filing Date 2023-12-19
First Publication Date 2024-09-12
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Shaw, Samuel
  • Snow, Colin
  • Gilroy, Scott
  • Tutt, Logan
  • Edelberg, Kyle
  • Neville, Neil

Abstract

A method of grasping and/or placing multiple objects by a gripper of a mobile robot. The multi-grasp method includes determining one or more candidate groups of objects to grasp by the suction-based gripper of the mobile robot, each of the one or more candidate groups of objects including a plurality of objects, determining a grasp quality score for each of the one or more candidate groups of objects, and grasping, by the suction-based gripper of the mobile robot, all objects in a candidate group of objects based, at least in part, on the grasp quality score. The multi-place method includes determining an allowed width associated with the conveyor, selecting a multi-place technique based, at least in part, on the allowed width and a dimension of the multiple grasped objects, and controlling the mobile robot to place the multiple grasped objects on the conveyor based on the selected multi-place technique.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B25J 15/06 - Gripping heads with vacuum or magnetic holding means

28.

SYSTEMS AND METHODS FOR GRASPING AND PLACING MULTIPLE OBJECTS WITH A ROBOTIC GRIPPER

      
Application Number US2023085080
Publication Number 2024/186375
Status In Force
Filing Date 2023-12-20
Publication Date 2024-09-12
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Shaw, Samuel
  • Snow, Colin
  • Gilroy, Scott
  • Tutt, Logan
  • Edelberg, Kyle
  • Neville, Neil

Abstract

A method of grasping and/or placing multiple objects by a gripper of a mobile robot. The multi-grasp method includes determining one or more candidate groups of objects to grasp by the suction-based gripper of the mobile robot, each of the one or more candidate groups of objects including a plurality of objects, determining a grasp quality score for each of the one or more candidate groups of objects, and grasping, by the suction-based gripper of the mobile robot, all objects in a candidate group of objects based, at least in part, on the grasp quality score. The multi-place method includes determining an allowed width associated with the conveyor, selecting a multi-place technique based, at least in part, on the allowed width and a dimension of the multiple grasped objects, and controlling the mobile robot to place the multiple grasped objects on the conveyor based on the selected multi-place technique.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B25J 15/06 - Gripping heads with vacuum or magnetic holding means
  • B65G 59/04 - De-stacking from the top of the stack by suction or magnetic devices

29.

LIMITING ARM FORCES AND TORQUES

      
Application Number 18646099
Status Pending
Filing Date 2024-04-25
First Publication Date 2024-08-15
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Paolini, Robert Eugene
  • Rizzi, Alfred Anthony
  • Aghasadeghi, Navid
  • Khripin, Alex

Abstract

A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.

IPC Classes  ?

30.

Detecting and Responding to Disturbances to a Gait of a Legged Robot

      
Application Number 18587680
Status Pending
Filing Date 2024-02-26
First Publication Date 2024-07-25
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Blankespoor, Kevin
  • Perkins, Alex
  • Da Silva, Marco

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.

IPC Classes  ?

  • B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
  • B25J 9/16 - Programme controls
  • B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid

31.

Enhanced Image Capture

      
Application Number 18615355
Status Pending
Filing Date 2024-03-25
First Publication Date 2024-07-11
Owner Google Technology Holdings LLC (USA)
Inventor
  • Petrescu, Doina I.
  • Lay, Thomas T.
  • Petrie, Steven R.
  • Ryan, Bill
  • Sinha, Snigdha
  • Vanhoof, Jeffrey S.

Abstract

Disclosed are techniques that provide a “best” picture taken within a few seconds of the moment when a capture command is received (e.g., when the “shutter” button is pressed). In some situations, several still images are automatically (that is, without the user's input) captured. These images are compared to find a “best” image that is presented to the photographer for consideration. Video is also captured automatically and analyzed to see if there is an action scene or other motion content around the time of the capture command. If the analysis reveals anything interesting, then the video clip is presented to the photographer. The video clip may be cropped to match the still-capture scene and to remove transitory parts. Higher-precision horizon detection may be provided based on motion analysis and on pixel-data analysis.

IPC Classes  ?

  • H04N 23/60 - Control of cameras or camera modules
  • H04N 1/00 - Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmissionDetails thereof
  • H04N 1/21 - Intermediate information storage
  • H04N 23/61 - Control of cameras or camera modules based on recognised objects
  • H04N 23/611 - Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
  • H04N 23/62 - Control of parameters via user interfaces
  • H04N 23/63 - Control of cameras or camera modules by using electronic viewfinders
  • H04N 23/667 - Camera operation mode switching, e.g. between still and video, sport and normal or high and low resolution modes
  • H04N 23/68 - Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
  • H04N 23/80 - Camera processing pipelinesComponents thereof

32.

Robotic device

      
Application Number 29849352
Grant Number D1034728
Status In Force
Filing Date 2022-08-10
First Publication Date 2024-07-09
Grant Date 2024-07-09
Owner Boston Dynamics, Inc. (USA)
Inventor Abroff, Aaron

33.

Robotic device

      
Application Number 29849353
Grant Number D1034729
Status In Force
Filing Date 2022-08-10
First Publication Date 2024-07-09
Grant Date 2024-07-09
Owner Boston Dynamics, Inc. (USA)
Inventor Abroff, Aaron

34.

Systems and Methods for Communicating Notifications and Textual Data Associated with Applications

      
Application Number 18609364
Status Pending
Filing Date 2024-03-19
First Publication Date 2024-07-04
Owner Google Technology Holdings LLC (USA)
Inventor
  • Peng, Long
  • Dai, Hui
  • Guan, Xin

Abstract

Embodiments are provided for communicating notifications and other textual data associated with applications installed on an electronic device. According to certain aspects, a user can interface with an input device to send a wake up trigger to the electronic device. The electronic device retrieves application notifications and converts (288) the application notifications to audio data. The electronic device also sends the audio data to an audio output device for annunciation. The user may also use the input device to send a request to the electronic device to activate the display screen. The electronic device identifies an application corresponding to an annunciated notification, and activates the display screen and initiates the application.

IPC Classes  ?

  • G06F 3/16 - Sound inputSound output
  • G06F 3/0484 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
  • G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
  • G10L 13/04 - Details of speech synthesis systems, e.g. synthesiser structure or memory management

35.

Method and Apparatus for Using Image Data to Aid Voice Recognition

      
Application Number 18606066
Status Pending
Filing Date 2024-03-15
First Publication Date 2024-07-04
Owner GOOGLE TECHNOLOGY HOLDINGS LLC (USA)
Inventor
  • Zurek, Robert A.
  • Schuster, Adrian M.
  • Shau, Fu-Lin
  • Wu, Jincheng

Abstract

A device performs a method for using image data to aid voice recognition. The method includes the device capturing image data of a vicinity of the device and adjusting, based on the image data, a set of parameters for voice recognition performed by the device. The set of parameters for the device performing voice recognition include, but are not limited to: a trigger threshold of a trigger for voice recognition; a set of beamforming parameters; a database for voice recognition; and/or an algorithm for voice recognition. The algorithm may include using noise suppression or using acoustic beamforming.

IPC Classes  ?

  • G10L 15/22 - Procedures used during a speech recognition process, e.g. man-machine dialog
  • B60N 2/00 - Seats specially adapted for vehiclesArrangement or mounting of seats in vehicles
  • G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06V 20/59 - Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
  • G06V 40/16 - Human faces, e.g. facial parts, sketches or expressions
  • G06V 40/18 - Eye characteristics, e.g. of the iris
  • G06V 40/19 - Sensors therefor
  • G06V 40/20 - Movements or behaviour, e.g. gesture recognition
  • G10L 15/20 - Speech recognition techniques specially adapted for robustness in adverse environments, e.g. in noise or of stress induced speech
  • G10L 15/24 - Speech recognition using non-acoustical features
  • G10L 15/25 - Speech recognition using non-acoustical features using position of the lips, movement of the lips or face analysis
  • G10L 15/26 - Speech to text systems
  • G10L 21/0208 - Noise filtering
  • G10L 21/0216 - Noise filtering characterised by the method used for estimating noise
  • G10L 25/78 - Detection of presence or absence of voice signals

36.

METHODS AND APPARATUS FOR CONTROLLING A GRIPPER OF A ROBOTIC DEVICE

      
Application Number 18545148
Status Pending
Filing Date 2023-12-19
First Publication Date 2024-07-04
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Neville, Neil
  • Edelberg, Kyle
  • Gilroy, Scott

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.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B25J 15/06 - Gripping heads with vacuum or magnetic holding means

37.

Robotic device

      
Application Number 29849351
Grant Number D1033501
Status In Force
Filing Date 2022-08-10
First Publication Date 2024-07-02
Grant Date 2024-07-02
Owner Boston Dynamics, Inc. (USA)
Inventor Abroff, Aaron

38.

METHODS AND APPARATUS FOR AUTOMATED CEILING DETECTION

      
Application Number 18545050
Status Pending
Filing Date 2023-12-19
First Publication Date 2024-06-27
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Merkle, Lukas
  • Turpin, Matthew
  • Tutt, Logan

Abstract

Methods and apparatus for estimating a ceiling location of a container within which a mobile robot is configured to operate are provided. The method comprises sensing distance measurement data associated with the ceiling of the container using one or more distance sensors arranged on an end effector of a mobile robot, and determining a ceiling estimate of the container based on the distance measurement data.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • G01S 13/88 - Radar or analogous systems, specially adapted for specific applications
  • G05D 1/648 - Performing a task within a working area or space, e.g. cleaning

39.

METHODS AND APPARATUS FOR CONTROLLING A GRIPPER OF A ROBOTIC DEVICE

      
Application Number US2023085076
Publication Number 2024/137781
Status In Force
Filing Date 2023-12-20
Publication Date 2024-06-27
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Neville, Neil
  • Edelberg, Kyle
  • Gilroy, Scott

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.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B25J 15/06 - Gripping heads with vacuum or magnetic holding means

40.

METHODS AND APPARATUS FOR LIDAR ALIGNMENT AND CALIBRATION

      
Application Number 18545124
Status Pending
Filing Date 2023-12-19
First Publication Date 2024-06-27
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Turpin, Matthew
  • Hoelscher, Andrew
  • Shimelis, Eyassu
  • Murphy, Michael
  • Nehrkorn, Mark
  • Vicentini, Federico
  • Neville, Neil

Abstract

Methods and apparatus for automated calibration for a LIDAR system of a mobile robot are provided. The method comprises capturing a plurality of LIDAR measurements. The plurality of LIDAR measurements include a first set of LIDAR measurements as the mobile robot spins in a first direction at a first location, the first location being a first distance to a calibration target, and a second set of LIDAR measurements as the mobile robot spins in a second direction at a second location, the second location being a second distance to the calibration target, wherein the first direction and the second direction are different and the second distance is different than the first distance. The method further comprises processing the plurality of LIDAR measurements to determine calibration data, and generating alignment instructions for the LIDAR system based, at least in part, on the calibration data.

IPC Classes  ?

  • G01S 7/497 - Means for monitoring or calibrating
  • G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles

41.

ARM AND BODY COORDINATION

      
Application Number 18443180
Status Pending
Filing Date 2024-02-15
First Publication Date 2024-06-13
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Berard, Stephen George
  • Barry, Andrew James
  • Swilling, Benjamin John
  • Rizzi, Alfred Anthony

Abstract

A computer-implemented method, when executed by data processing hardware of a robot having an articulated arm and a base, causes data processing hardware to perform operations. The operations include determining a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot. The operations also include receiving a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location. The operations also include generating base parameters associated with the task request. The operations further include instructing, using the generated base parameters, the base of the robot to move from the current base configuration to an anticipatory base configuration.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B25J 5/00 - Manipulators mounted on wheels or on carriages

42.

IDENTIFYING STAIRS FROM FOOTFALLS

      
Application Number 18444491
Status Pending
Filing Date 2024-02-16
First Publication Date 2024-06-13
Owner Boston Dynamics, Inc. (USA)
Inventor Komoroski, Adam

Abstract

A method of identifying stairs from footfalls includes receiving a plurality of footfall locations of a robot traversing an environment. Each respective footfall location indicates a location where a leg of the robot contacted a support surface. The method also includes determining a plurality of candidate footfall location pairs based on the plurality of footfall locations. The candidate footfall location pair includes a first and a second candidate footfall location. The method further includes clustering the first candidate footfall location into a first cluster group based on a height of the first candidate footfall location and clustering the second candidate footfall location into a second cluster group based on a height of the second candidate footfall location. The method additionally includes generating a stair model by representing each of the cluster groups as a corresponding stair and delineating each stair based on a respective midpoint between each adjacent cluster group.

IPC Classes  ?

  • G06V 20/10 - Terrestrial scenes
  • B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
  • G06F 18/23 - Clustering techniques
  • G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersectionsConnectivity analysis, e.g. of connected components
  • G06V 10/762 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using clustering, e.g. of similar faces in social networks

43.

SYSTEMS AND METHODS FOR CONTROLLING MOVEMENTS OF ROBOTIC ACTUATORS

      
Application Number 18444944
Status Pending
Filing Date 2024-02-19
First Publication Date 2024-06-13
Owner Boston Dynamics, Inc. (USA)
Inventor Rogers, Kyle

Abstract

An electronic circuit comprises a charge storing component, a set of one or more switching components coupled to the charge storing component, and an additional switching component coupled to each of the one or more switching components in the set. The additional switching component is configured to operate in a first state or a second state based on a received current or voltage. The first state prevents current to flow from the charge storing component to each of the one or more switching components in the set and the second state allows current to flow from the charge storing component to each of the one or more switching components in the set.

IPC Classes  ?

  • B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
  • G05F 1/10 - Regulating voltage or current
  • H02P 3/22 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by short-circuit or resistive braking
  • H03K 17/56 - Electronic switching or gating, i.e. not by contact-making and -breaking characterised by the use of specified components by the use, as active elements, of semiconductor devices

44.

ANCHORING BASED TRANSFORMATION FOR ALIGNING SENSOR DATA OF A ROBOT WITH A SITE MODEL

      
Application Number 18531152
Status Pending
Filing Date 2023-12-06
First Publication Date 2024-06-13
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Klingensmith, Matthew Jacob
  • Jonak, Dom
  • Hepler, Leland
  • Basmajian, Christopher
  • Ringley, Brian

Abstract

Systems and methods are described for the display of a transformed virtual representation of sensor data overlaid on a site model. A system can obtain a site model identifying a site. For example, the site model can include a map, a blueprint, or a graph. The system can obtain sensor data from a sensor of a robot. The sensor data can include route data identifying route waypoints and/or route edges associated with the robot. The system can receive input identifying an association between a virtual representation of the sensor data and the site model. Based on the association, the system can transform the virtual representation of the sensor data and instruct display of the transformed data overlaid on the site model.

IPC Classes  ?

  • G05D 1/222 - Remote-control arrangements operated by humans
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
  • G05D 1/229 - Command input data, e.g. waypoints
  • G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
  • G06T 3/40 - Scaling of whole images or parts thereof, e.g. expanding or contracting
  • G06T 11/20 - Drawing from basic elements, e.g. lines or circles

45.

OBJECT CLIMBING BY LEGGED ROBOTS USING TRAINING OBJECTS

      
Application Number 18537269
Status Pending
Filing Date 2023-12-12
First Publication Date 2024-06-13
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Di Carlo, Jared
  • Bergamin, Kevin
  • Bellicoso, Carmine Dario
  • Kuindersma, Scott

Abstract

Systems and methods are described for climbing of objects in an environment of a robot based on sensor data. A system can obtain sensor data of the environment. For example, the system can obtain sensor data from one or more sensors of robot. The system can identify the object based on the sensor data. Further, the system can determine that the object is climbable based on determining that the object corresponds to a particular training object. The system can determine that the object corresponds to the particular training object based on a particular characteristic of the object. The system can identify a climbing operation associated with the training object and instruct the robot to climb on the object based on the climbing operation.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid

46.

ROBOT MOVEMENT AND INTERACTION WITH MASSIVE BODIES

      
Application Number 18073630
Status Pending
Filing Date 2022-12-02
First Publication Date 2024-06-06
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Koolen, Frans Anton
  • Deits, Robin

Abstract

The invention includes systems and methods for determining movement of a robot. A computing system of the robot receives information comprising a reference behavior specification, a current state of the robot, and a characteristic of a massive body coupled to or expected to be coupled to the robot. The computing system determines, based on the information, a set of movement parameters for the robot, the set of movement parameters reflecting a goal trajectory for the robot. The computing system instructs the robot to move consistent with the set of movement parameters.

IPC Classes  ?

47.

ELECTRICAL TRANSFER ASSEMBLIES FOR ROBOTIC DEVICES

      
Application Number US2023081102
Publication Number 2024/118475
Status In Force
Filing Date 2023-11-27
Publication Date 2024-06-06
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Billings, Devin
  • Potter, Steven

Abstract

The invention includes systems and methods for fabrication and use of an assembly for a component of a robot. The assembly includes a first member including a set of electrically conductive annular surfaces, and a second member including a set of electrically conductive components configured to contact the set of electrically conductive annular surfaces. The first member and the second member are included within the component of the robot. Each component in the set of electrically conductive components includes a first convex curvilinear portion configured to contact a corresponding annular surface in the set of electrically conductive annular surfaces.

IPC Classes  ?

  • H01R 39/10 - Slip-rings other than with external cylindrical contact surface, e.g. flat slip-rings
  • H01R 39/24 - Laminated contactsWire contacts, e.g. metallic brush, carbon fibres
  • H01R 39/64 - Devices for uninterrupted current collection
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
  • H01R 13/24 - Contacts for co-operating by abutting resilientContacts for co-operating by abutting resiliently mounted

48.

DATA TRANSFER ASSEMBLIES FOR ROBOTIC DEVICES

      
Application Number US2023081114
Publication Number 2024/118482
Status In Force
Filing Date 2023-11-27
Publication Date 2024-06-06
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Billings, Devin
  • Meduna, Matthew

Abstract

The invention includes systems and methods for routing data packets in a robot. The method comprises routing, using a first switching device, data packets between a first host processor and a first electronic device of the robot, and routing, using the first switching device, data packets between a second host processor and a second electronic device of the robot.

IPC Classes  ?

49.

ROBOT MOVEMENT AND INTERACTION WITH MASSIVE BODIES

      
Application Number US2023081276
Publication Number 2024/118562
Status In Force
Filing Date 2023-11-28
Publication Date 2024-06-06
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Koolen, Frans Anton
  • Deits, Robin

Abstract

The invention includes systems and methods for determining movement of a robot. A computing system of the robot receives information comprising a reference behavior specification, a current state of the robot, and a characteristic of a massive body coupled to or expected to be coupled to the robot. The computing system determines, based on the information, a set of movement parameters for the robot, the set of movement parameters reflecting a goal trajectory for the robot. The computing system instructs the robot to move consistent with the set of movement parameters.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • G05D 1/43 - Control of position or course in two dimensions

50.

ROBOTIC END EFFECTOR

      
Application Number US2023081281
Publication Number 2024/118566
Status In Force
Filing Date 2023-11-28
Publication Date 2024-06-06
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Tu, Haink
  • Potter, Steven
  • Rodriguez, Alberto

Abstract

An apparatus for a robot includes a set of at least three proximal links. Each proximal link is configured to rotate about a respective joint. Each joint is aligned on a common axis. The apparatus also includes a set of at least three distal links. Each distal link is coupled to a corresponding proximal link and configured to rotate about a second respective joint. Each proximal link comprises an actuator configured to move at least one of the proximal link or the corresponding distal link.

IPC Classes  ?

  • B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J 15/00 - Gripping heads
  • B25J 15/02 - Gripping heads servo-actuated
  • B25J 19/06 - Safety devices

51.

ROBOTIC END EFFECTOR

      
Application Number 18073660
Status Pending
Filing Date 2022-12-02
First Publication Date 2024-06-06
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Tu, Haink
  • Potter, Steven
  • Rodriguez, Alberto

Abstract

An apparatus for a robot includes a set of at least three proximal links. Each proximal link is configured to rotate about a respective joint. Each joint is aligned on a common axis. The apparatus also includes a set of at least three distal links. Each distal link is coupled to a corresponding proximal link and configured to rotate about a second respective joint. Each proximal link comprises an actuator configured to move at least one of the proximal link or the corresponding distal link.

IPC Classes  ?

52.

Data transfer assemblies for robotic devices

      
Application Number 18073685
Grant Number 12189566
Status In Force
Filing Date 2022-12-02
First Publication Date 2024-06-06
Grant Date 2025-01-07
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Billings, Devin
  • Meduna, Matthew

Abstract

The invention includes systems and methods for routing data packets in a robot. The method comprises routing, using a first switching device, data packets between a first host processor and a first electronic device of the robot, and routing, using the first switching device, data packets between a second host processor and a second electronic device of the robot.

IPC Classes  ?

  • G06F 13/42 - Bus transfer protocol, e.g. handshakeSynchronisation
  • B25J 19/02 - Sensing devices
  • H04L 45/00 - Routing or path finding of packets in data switching networks
  • H04L 45/42 - Centralised routing

53.

Electrical transfer assemblies for robotic devices

      
Application Number 18073646
Grant Number 12280494
Status In Force
Filing Date 2022-12-02
First Publication Date 2024-06-06
Grant Date 2025-04-22
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Billings, Devin
  • Potter, Steven

Abstract

The invention includes systems and methods for fabrication and use of an assembly for a component of a robot. The assembly includes a first member including a set of electrically conductive annular surfaces, and a second member including a set of electrically conductive components configured to contact the set of electrically conductive annular surfaces. The first member and the second member are included within the component of the robot. Each component in the set of electrically conductive components includes a first convex curvilinear portion configured to contact a corresponding annular surface in the set of electrically conductive annular surfaces.

IPC Classes  ?

  • B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
  • B25J 17/00 - Joints
  • B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
  • H05K 1/14 - Structural association of two or more printed circuits

54.

Stair Tracking for Modeled and Perceived Terrain

      
Application Number 18431841
Status Pending
Filing Date 2024-02-02
First Publication Date 2024-05-30
Owner Boston Dynamics, Inc. (USA)
Inventor Whitman, Eric Cary

Abstract

A method for a stair tracking for modeled and perceived terrain includes receiving, at data processing hardware, sensor data about an environment of a robot. The method also includes generating, by the data processing hardware, a set of maps based on voxels corresponding to the received sensor data. The set of maps includes a ground height map and a map of movement limitations for the robot. The map of movement limitations identifies illegal regions within the environment that the robot should avoid entering. The method further includes generating a stair model for a set of stairs within the environment based on the sensor data, merging the stair model and the map of movement limitations to generate an enhanced stair map, and controlling the robot based on the enhanced stair map or the ground height map to traverse the environment.

IPC Classes  ?

  • B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid

55.

TOUCH-DOWN SENSING FOR ROBOTIC DEVICES

      
Application Number 18420175
Status Pending
Filing Date 2024-01-23
First Publication Date 2024-05-16
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Jackowski, Zachary
  • Blankespoor, Kevin
  • Saunders, John Aaron
  • Agresti, Francis M.

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.

IPC Classes  ?

  • B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
  • B25J 9/16 - Programme controls
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
  • G01L 5/00 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes

56.

SYSTEMS AND METHODS FOR GROUND PLANE ESTIMATION

      
Application Number 18414181
Status Pending
Filing Date 2024-01-16
First Publication Date 2024-05-09
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Blankespoor, Kevin
  • Nelson, Gabriel
  • Neville, Neil

Abstract

A method for estimating a ground plane of a legged robot includes determining one or more physical contact points of the legged robot based on first sensor information of the legged robot, determining one or more virtual contact points of the legged robot based on second sensor information of the legged robot, determining a ground plane estimation of the ground surface based on both the one or more physical contact points and the one or more virtual contact points, and controlling a pose of the legged robot based on the ground plane estimation.

IPC Classes  ?

  • G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • B25J 9/00 - Programme-controlled manipulators
  • B25J 9/16 - Programme controls
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid

57.

METHOD AND DEVICE FOR AUDIO INPUT ROUTING

      
Application Number 18537386
Status Pending
Filing Date 2023-12-12
First Publication Date 2024-04-25
Owner GOOGLE TECHNOLOGY HOLDINGS LLC (USA)
Inventor
  • Ondo, Kazuhiro
  • Labowicz, Michael P.
  • Yoshino, Hideki
  • Wells, Andrew K.

Abstract

A method on a mobile device for a wireless network is described. An audio input is monitored for a trigger phrase spoken by a user of the mobile device. A command phrase spoken by the user after the trigger phrase is buffered. The command phrase corresponds to a call command and a call parameter. A set of target contacts associated with the mobile device is selected based on respective voice validation scores and respective contact confidence scores. The respective voice validation scores are based on the call parameter. The respective contact confidence scores are based on a user context associated with the user. A call to a priority contact of the set of target contacts is automatically placed if the voice validation score of the priority contact meets a validation threshold and the contact confidence score of the priority contact meets a confidence threshold.

IPC Classes  ?

  • H04M 1/60 - Substation equipment, e.g. for use by subscribers including speech amplifiers
  • G06F 16/60 - Information retrievalDatabase structures thereforFile system structures therefor of audio data
  • G10L 15/20 - Speech recognition techniques specially adapted for robustness in adverse environments, e.g. in noise or of stress induced speech
  • G10L 15/28 - Constructional details of speech recognition systems
  • H04M 1/27 - Devices whereby a plurality of signals may be stored simultaneously

58.

Systems and methods for communicating notifications and textual data associated with applications

      
Application Number 18162735
Grant Number 11954403
Status In Force
Filing Date 2023-02-01
First Publication Date 2024-04-09
Grant Date 2024-04-09
Owner Google Technology Holdings LLC (USA)
Inventor
  • Peng, Long
  • Dai, Hui
  • Guan, Xin

Abstract

Embodiments are provided for communicating notifications and other textual data associated with applications installed on an electronic device. According to certain aspects, a user can interface with an input device to send (218) a wake up trigger to the electronic device. The electronic device retrieves (222) application notifications and converts (288) the application notifications to audio data. The electronic device also sends (230) the audio data to an audio output device for annunciation (232). The user may also use the input device to send (242) a request to the electronic device to activate the display screen. The electronic device identifies (248) an application corresponding to an annunciated notification, and activates (254) the display screen and initiates the application.

IPC Classes  ?

  • G06F 3/0484 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
  • G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
  • G06F 3/16 - Sound inputSound output
  • G10L 13/04 - Details of speech synthesis systems, e.g. synthesiser structure or memory management

59.

AUTOMATED RETURN OF TELEOPERATED VEHICLES

      
Application Number 18538407
Status Pending
Filing Date 2023-12-13
First Publication Date 2024-04-04
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Miller, Thomas Hopkins
  • Bentzel, Christopher

Abstract

A method includes obtaining, from an operator of a robot, a return execution lease associated with one or more commands for controlling the robot that is scheduled within a sequence of execution leases. The robot is configured to execute commands associated with a current execution lease that is an earliest execution lease in the sequence of execution leases that is not expired. The method includes obtaining an execution lease expiration trigger triggering expiration of the current execution lease. After obtaining the trigger, the method includes determining that the return execution lease is a next current execution lease in the sequence. While the return execution lease is the current execution lease, the method includes executing the one or more commands for controlling the robot associated with the return execution lease which cause the robot to navigate to a return location remote from a current location of the robot.

IPC Classes  ?

  • G05D 1/02 - Control of position or course in two dimensions
  • G05B 19/042 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors

60.

SYSTEMS AND METHODS FOR SAFE OPERATION OF ROBOTS

      
Application Number US2023074667
Publication Number 2024/064739
Status In Force
Filing Date 2023-09-20
Publication Date 2024-03-28
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Saunders, John Aaron
  • Murphy, Michael

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]

61.

SYSTEMS AND METHODS FOR SAFE OPERATION OF ROBOTS

      
Application Number 18471951
Status Pending
Filing Date 2023-09-21
First Publication Date 2024-03-28
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Saunders, John Aaron
  • Murphy, Michael

Abstract

Methods and apparatus for implementing a safety system for a mobile robot are described. The method comprises receiving first sensor data from one or more sensors, the first sensor data being captured at a first time, identifying, based on the first sensor data, a first unobserved portion of a safety field in an environment of a mobile robot, assigning, to each of a plurality of contiguous regions within the first unobserved portion of the safety field, an occupancy state, updating, at a second time after the first time, the occupancy state of one or more of the plurality of contiguous regions, and determining one or more operating parameters for the mobile robot, the one or more operating parameters based, at least in part, on the occupancy state of at least some regions of the plurality of contiguous regions at the second time.

IPC Classes  ?

62.

AUTOMATICALLY TRANSITIONING A ROBOT TO AN OPERATIONAL MODE OPTIMIZED FOR PARTICULAR TERRAIN

      
Application Number US2023025760
Publication Number 2024/058844
Status In Force
Filing Date 2023-06-20
Publication Date 2024-03-21
Owner BOSTON DYNAMICS, INC. (USA)
Inventor Whitman, Eric

Abstract

According to one disclosed method, one or more sensors of a robot may receive data corresponding to one or more locations of the robot along a path the robot is following within an environment on a first occasion. Based on the received data, a determination may be made that one or more stairs exist in a first region of the environment. Further, when the robot is at a position along the path the robot is following on the first occasion, a determination may be made that the robot is expected to enter the first region. The robot may be controlled to operate in a first operational mode associated with traversal of stairs when it is determined that one or more stairs exist in the first region and the robot is expected to enter the first region.

IPC Classes  ?

  • B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
  • G05D 1/02 - Control of position or course in two dimensions

63.

OFFLINE OPTIMIZATION TO ROBOT BEHAVIOR

      
Application Number 18521950
Status Pending
Filing Date 2023-11-28
First Publication Date 2024-03-21
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Da Silva, Marco
  • Stephens, Benjamin
  • Rizzi, Alfred Anthony
  • Abe, Yeuhi

Abstract

A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid

64.

Screw actuator for a legged robot

      
Application Number 18361414
Grant Number 12123481
Status In Force
Filing Date 2023-07-28
First Publication Date 2024-03-21
Grant Date 2024-10-22
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Potter, Steven D.
  • Jackowski, Zachary John
  • Young, Adam

Abstract

A robot leg assembly including a hip joint and an upper leg member. A proximal end portion of the upper leg member rotatably coupled to the hip joint. The robot leg assembly including a knee joint rotatably coupled to a distal end portion of the upper leg member, a lower leg member rotatably coupled to the knee joint, a linear actuator disposed on the upper leg member and defining a motion axis, and a motor coupled to the linear actuator and a linkage coupled to the translation stage and to the lower leg member. The linear actuator includes a translation stage moveable along the motion axis to translate rotational motion of the motor to linear motion of the translation stage along the motion axis, which moves the linkage to rotate the lower leg member relative to the upper leg member at the knee joint.

IPC Classes  ?

  • F16H 25/20 - Screw mechanisms
  • B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
  • B25J 17/02 - Wrist joints
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid

65.

Robotic device

      
Application Number 29849355
Grant Number D1018621
Status In Force
Filing Date 2022-08-10
First Publication Date 2024-03-19
Grant Date 2024-03-19
Owner Boston Dynamics, Inc. (USA)
Inventor Abroff, Aaron

66.

CONTROL OF ROBOTIC DEVICES WITH NON-CONSTANT BODY PITCH

      
Application Number 18509108
Status Pending
Filing Date 2023-11-14
First Publication Date 2024-03-07
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Fay, Gina Christine
  • Khripin, Alex Yu
  • Whitman, Eric

Abstract

An example implementation involves controlling robots with non-constant body pitch and height. The implementation involves obtaining a model of the robot that represents the robot as a first point mass rigidly coupled with a second point mass along a longitudinal axis. The implementation also involves determining a state of a first pair of legs, and determining a height of the first point mass based on the model and the state of the first pair of legs. The implementation further involves determining a first amount of vertical force for at least one leg of the first pair of legs to apply along a vertical axis against a surface while the at least one leg is in contact with the surface. Additionally, the implementation involves causing the at least one leg of the first pair of legs to begin applying the amount of vertical force against the surface.

IPC Classes  ?

  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
  • B25J 9/16 - Programme controls

67.

SYSTEMS AND METHODS OF COORDINATING A MOBILE ROBOT AND PARCEL HANDLING EQUIPMENT

      
Application Number 18446786
Status Pending
Filing Date 2023-08-09
First Publication Date 2024-02-22
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Murphy, Michael
  • Perkins, Alexander
  • Diaz-Lankenau, Guillermo
  • Turpin, Matthew
  • Cable, Phillip

Abstract

A kit includes a computing device configured to control motion of equipment for receiving one or more parcels in an environment of a mobile robot. The kit also includes a structure configured to couple to the equipment. The structure comprises an identifier configured to be sensed by a sensor of the mobile robot.

IPC Classes  ?

68.

SYSTEMS AND METHODS OF COORDINATING A MOBILE ROBOT AND PARCEL HANDLING EQUIPMENT

      
Application Number US2023029813
Publication Number 2024/039552
Status In Force
Filing Date 2023-08-09
Publication Date 2024-02-22
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Murphy, Michael
  • Perkins, Alexander
  • Diaz-Lankenau, Guillermo
  • Turpin, Matthew
  • Cable, Phillip

Abstract

A kit includes a computing device configured to control motion of equipment for receiving one or more parcels in an environment of a mobile robot. The kit also includes a structure configured to couple to the equipment. The structure comprises an identifier configured to be sensed by a sensor of the mobile robot.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B25J 5/00 - Manipulators mounted on wheels or on carriages
  • G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
  • G05D 1/02 - Control of position or course in two dimensions

69.

SYSTEMS AND METHODS OF GUARDING A MOBILE ROBOT

      
Application Number 18447518
Status Pending
Filing Date 2023-08-10
First Publication Date 2024-02-22
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Perkins, Alexander
  • Murphy, Michael
  • Diaz-Lankenau, Guillermo
  • Vicentini, Federico
  • Nehrkorn, Mark

Abstract

A computing device receives location information for a mobile robot. The computing device also receives location information for an entity in an environment of the mobile robot. The computing device determines a distance between the mobile robot and the entity in the environment of the mobile robot. The computing device determines one or more operating parameters for the mobile robot. The one or more operating parameters are based on the determined distance.

IPC Classes  ?

  • G05D 1/02 - Control of position or course in two dimensions
  • B25J 5/00 - Manipulators mounted on wheels or on carriages
  • B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks

70.

SYSTEMS AND METHODS OF GUARDING A MOBILE ROBOT

      
Application Number US2023029931
Publication Number 2024/039564
Status In Force
Filing Date 2023-08-10
Publication Date 2024-02-22
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Perkins, Alexander
  • Murphy, Michael
  • Diaz-Lankenau, Guillermo
  • Vicentini, Federico
  • Nehrkorn, Mark

Abstract

A computing device receives location information for a mobile robot. The computing device also receives location information for an entity in an environment of the mobile robot. The computing device determines a distance between the mobile robot and the entity in the environment of the mobile robot. The computing device determines one or more operating parameters for the mobile robot. The one or more operating parameters are based on the determined distance.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]

71.

BRAKING AND REGENERATION CONTROL IN A LEGGED ROBOT

      
Application Number 18467127
Status Pending
Filing Date 2023-09-14
First Publication Date 2024-02-15
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Khripin, Alex
  • Berard, Stephen
  • Rizzi, Alfred

Abstract

An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.

IPC Classes  ?

  • B25J 9/20 - Programme controls fluidic
  • F15B 9/09 - Servomotors with follow-up action, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
  • B25J 5/00 - Manipulators mounted on wheels or on carriages

72.

Robot movement and online trajectory optimization

      
Application Number 18494361
Grant Number 12194629
Status In Force
Filing Date 2023-10-25
First Publication Date 2024-02-15
Grant Date 2025-01-14
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Deits, Robin
  • Kuindersma, Scott
  • Kelly, Matthew P.
  • Koolen, Twan
  • Abe, Yeuhi
  • Stephens, Benjamin

Abstract

Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.

IPC Classes  ?

  • G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • B25J 9/16 - Programme controls
  • B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
  • B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

73.

Detecting boxes

      
Application Number 18484806
Grant Number 12175742
Status In Force
Filing Date 2023-10-11
First Publication Date 2024-02-01
Grant Date 2024-12-24
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Perkins, Alex
  • Duhadway, Charles
  • Anderson-Sprecher, Peter

Abstract

A method for detecting boxes includes receiving a plurality of image frame pairs for an area of interest including at least one target box. Each image frame pair includes a monocular image frame and a respective depth image frame. For each image frame pair, the method includes determining corners for a rectangle associated with the at least one target box within the respective monocular image frame. Based on the determined corners, the method includes the following: performing edge detection and determining faces within the respective monocular image frame; and extracting planes corresponding to the at least one target box from the respective depth image frame. The method includes matching the determined faces to the extracted planes and generating a box estimation based on the determined corners, the performed edge detection, and the matched faces of the at least one target box.

IPC Classes  ?

  • G06V 20/10 - Terrestrial scenes
  • B25J 9/16 - Programme controls
  • G06N 20/00 - Machine learning
  • G06T 7/13 - Edge detection
  • G06T 7/521 - Depth or shape recovery from laser ranging, e.g. using interferometryDepth or shape recovery from the projection of structured light
  • G06T 7/593 - Depth or shape recovery from multiple images from stereo images
  • G06V 10/20 - Image preprocessing
  • G06V 10/25 - Determination of region of interest [ROI] or a volume of interest [VOI]
  • G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersectionsConnectivity analysis, e.g. of connected components
  • G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
  • G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
  • G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks

74.

Robotic device

      
Application Number 29849360
Grant Number D1013002
Status In Force
Filing Date 2022-08-10
First Publication Date 2024-01-30
Grant Date 2024-01-30
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Abroff, Aaron
  • Murphy, Michael
  • Zelnick, Benjamin

75.

Robotic device

      
Application Number 29849361
Grant Number D1013003
Status In Force
Filing Date 2022-08-10
First Publication Date 2024-01-30
Grant Date 2024-01-30
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Abroff, Aaron
  • Murphy, Michael
  • Zelnick, Benjamin

76.

Robotic device

      
Application Number 29849358
Grant Number D1013001
Status In Force
Filing Date 2022-08-10
First Publication Date 2024-01-30
Grant Date 2024-01-30
Owner Boston Dynamics, Inc. (USA)
Inventor Abroff, Aaron

77.

Robotic device

      
Application Number 29849362
Grant Number D1013004
Status In Force
Filing Date 2022-08-10
First Publication Date 2024-01-30
Grant Date 2024-01-30
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Abroff, Aaron
  • Saunders, John Aaron
  • Murphy, Michael

78.

Discretized valve state control for multi-level hydraulic systems

      
Application Number 18335016
Grant Number 12215719
Status In Force
Filing Date 2023-06-14
First Publication Date 2024-01-25
Grant Date 2025-02-04
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Murphy, Michael
  • Saunders, John Aaron
  • Potter, Steven

Abstract

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.

IPC Classes  ?

  • F15B 11/18 - Servomotor systems without provision for follow-up action with two or more servomotors used in combination for obtaining stepwise operation of a single controlled member
  • B25J 9/14 - Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
  • B25J 9/16 - Programme controls
  • B25J 9/20 - Programme controls fluidic
  • F15B 11/16 - Servomotor systems without provision for follow-up action with two or more servomotors
  • F15B 11/17 - Servomotor systems without provision for follow-up action with two or more servomotors using two or more pumps
  • G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D 16/20 - Control of fluid pressure characterised by the use of electric means

79.

ORBIT

      
Serial Number 98345289
Status Pending
Filing Date 2024-01-06
Owner Boston Dynamics, Inc. ()
NICE Classes  ?
  • 35 - Advertising and business services
  • 09 - Scientific and electric apparatus and instruments
  • 42 - Scientific, technological and industrial services, research and design

Goods & Services

Database management being management of data collected by robotic equipment and internet of things (IoT) enabled devices; database management services in the nature of databases comprised of data collected by robotic equipment and internet of things (IoT) sensors; data processing services, in the nature of collecting and analyzing data gathered by robotic equipment and internet of things (IoT) enabled devices to identify historical trends, predict outcomes, and assess performance Downloadable and recorded computer software, both for the remote management of robotic equipment and internet of things (IoT) enabled devices for controlling, operating, and monitoring the status of robots, machine tools, industrial machines, and internet of things (IoT) enabled devices, for the management of data collected by robotic equipment and internet of things (IoT) enabled devices, for analyzing the data gathered by robotic equipment and internet of things (IoT) enabled devices to identify historical trends, predict outcomes, and assess performance, sending real-time instructions, setting routes and missions, and modifying the scheduled tasks of robotic equipment and internet of things (IoT) enabled devices, for the real-time monitoring of on-sight sensors being laser scanning sensors, gas sensors, radiation sensors, vibration sensors, partial discharge sensors, thermal sensors, and audio sensors, for the real-time monitoring of camera and video images collected by robotic equipment and internet of things (IoT) enabled devices, and for teleoperation being the remote operation of robotic equipment and internet of things (IoT) enabled devices; computer interface software, namely, downloadable and recorded computer software both for use in database management, storing and managing electronic data Providing online non-downloadable computer software platforms for the remote management of robotic equipment and internet of things (IoT) enabled devices in the nature of controlling, operating, and monitoring the status of robots, machine tools, industrial machines and internet of things (IoT) enabled devices, for the management of data collected by robotic equipment and internet of things (IoT) enabled devices, for analyzing the data gathered by robotic equipment and internet of things (IoT) enabled devices to identify historical trends, predict outcomes, and assess performance, for sending real-time instructions, setting routes and missions, and modifying the scheduled tasks of robotic equipment and internet of things (IoT) enabled devices, for the real-time monitoring of on-sight sensors being laser scanning sensors, gas sensors, radiation sensors, vibration sensors, partial discharge sensors, thermal sensors, and audio sensors, for the real-time monitoring of camera and video images collected by robotic equipment and internet of things (IoT) enabled devices, and for teleoperation being the remote operation of robotic equipment and internet of things (IoT) enabled devices; providing temporary use of non-downloadable cloud-based software for managing electronic data interfaces

80.

Magnetic encoder calibration

      
Application Number 18469994
Grant Number 12270686
Status In Force
Filing Date 2023-09-19
First Publication Date 2024-01-04
Grant Date 2025-04-08
Owner Boston Dynamics, Inc. (USA)
Inventor Khripin, Alex

Abstract

A method for calibrating a position measurement system includes receiving measurement data from the position measurement system and determining that the measurement data includes periodic distortion data. The position measurement system includes a nonius track and a master track. The method also includes modifying the measurement data by decomposing the periodic distortion data into periodic components and removing the periodic components from the measurement data.

IPC Classes  ?

  • G01D 18/00 - Testing or calibrating apparatus or arrangements provided for in groups
  • B25J 9/16 - Programme controls
  • G01D 5/244 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trainsMechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means generating pulses or pulse trains
  • G01D 5/347 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales

81.

Multi-processor support for array imagers

      
Application Number 18339001
Grant Number 12170752
Status In Force
Filing Date 2023-06-21
First Publication Date 2024-01-04
Grant Date 2024-12-17
Owner GOOGLE TECHNOLOGY HOLDINGS LLC (USA)
Inventor
  • Bretscher, John T.
  • Vaas, Randall S.

Abstract

Using the techniques discussed herein, a set of images is captured by one or more array imagers (106). Each array imager includes multiple imagers configured in various manners. Each array imager captures multiple images of substantially a same scene at substantially a same time. The images captured by each array image are encoded by multiple processors (112, 114). Each processor can encode sets of images captured by a different array imager, or each processor can encode different sets of images captured by the same array imager. The encoding of the images is performed using various image-compression techniques so that the information that results from the encoding is smaller, in terms of storage size, than the uncompressed images.

IPC Classes  ?

  • H04N 13/282 - Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
  • G06T 1/20 - Processor architecturesProcessor configuration, e.g. pipelining
  • H04N 13/161 - Encoding, multiplexing or demultiplexing different image signal components
  • H04N 19/107 - Selection of coding mode or of prediction mode between spatial and temporal predictive coding, e.g. picture refresh
  • H04N 19/42 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation
  • H04N 19/436 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation using parallelised computational arrangements
  • H04N 19/503 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving temporal prediction
  • H04N 19/593 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving spatial prediction techniques
  • H04N 19/597 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding specially adapted for multi-view video sequence encoding
  • H04N 19/62 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using transform coding by frequency transforming in three dimensions
  • H04N 23/45 - Cameras or camera modules comprising electronic image sensorsControl thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
  • H04N 23/75 - Circuitry for compensating brightness variation in the scene by influencing optical camera components
  • H04N 23/80 - Camera processing pipelinesComponents thereof
  • H04N 23/957 - Light-field or plenoptic cameras or camera modules

82.

Manipulating boxes using a zoned gripper

      
Application Number 18348758
Grant Number 12090656
Status In Force
Filing Date 2023-07-07
First Publication Date 2024-01-04
Grant Date 2024-09-17
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Chitta, Sachin
  • Hershberger, David
  • Pauwels, Karl

Abstract

A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.

IPC Classes  ?

  • B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
  • B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J 9/16 - Programme controls
  • B25J 15/06 - Gripping heads with vacuum or magnetic holding means
  • B66F 9/02 - Stationary loaders or unloaders, e.g. for sacks

83.

ONLINE AUTHORING OF ROBOT AUTONOMY APPLICATIONS

      
Application Number 18466535
Status Pending
Filing Date 2023-09-13
First Publication Date 2023-12-28
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Seifert, Samuel
  • Hepler, Leland

Abstract

A method for online authoring of robot autonomy applications includes receiving sensor data of an environment about a robot while the robot traverses through the environment. The method also includes generating an environmental map representative of the environment about the robot based on the received sensor data. While generating the environmental map, the method includes localizing a current position of the robot within the environmental map and, at each corresponding target location of one or more target locations within the environment, recording a respective action for the robot to perform. The method also includes generating a behavior tree for navigating the robot to each corresponding target location and controlling the robot to perform the respective action at each corresponding target location within the environment during a future mission when the current position of the robot within the environmental map reaches the corresponding target location.

IPC Classes  ?

  • G05D 1/02 - Control of position or course in two dimensions

84.

ONLINE CAMERA CALIBRATION FOR A MOBILE ROBOT

      
Application Number 18335661
Status Pending
Filing Date 2023-06-15
First Publication Date 2023-12-28
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Christopher, Christopher
  • Gonano, Dion

Abstract

Methods and apparatus for online camera calibration are provided. The method comprises receiving a first image captured by a first camera of a robot, wherein the first image includes an object having at least one known dimension, receiving a second image captured by a second camera of the robot, wherein the second image includes the object, wherein a field of view of the first camera and a field of view of the second camera at least partially overlap, projecting a plurality of points on the object in the first image to pixel locations in the second image, and determining, based on pixel locations of the plurality of points on the object in second image and the projected plurality of points on the object, a reprojection error.

IPC Classes  ?

  • G06T 7/80 - Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
  • G06V 10/20 - Image preprocessing
  • G06T 7/70 - Determining position or orientation of objects or cameras

85.

A MOBILE ROBOT SYSTEM FOR AUTOMATED ASSET INSPECTION

      
Application Number 18338582
Status Pending
Filing Date 2023-06-21
First Publication Date 2023-12-28
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Rice, Alex
  • Finnie, Iii, Gordon
  • Da Silva, Marco
  • Bentzel, Christopher
  • Allum, Christopher
  • Roy, Justine
  • Parks, Karl

Abstract

Methods and apparatus for performing automated inspection of one or more assets in an environment using a mobile robot are provided. The method, comprises defining, within an image captured by a sensor of a robot, a region of interest that includes an asset in an environment of the robot, wherein the asset is associated with an asset identifier, configuring at least one parameter of a computer vision model based on the asset identifier, processing image data within the region of interest using the computer vision model to determine whether an alert should be generated, and outputting the alert when it is determined that the alert should be generated.

IPC Classes  ?

  • G06T 7/00 - Image analysis
  • B25J 19/02 - Sensing devices
  • B25J 11/00 - Manipulators not otherwise provided for
  • G01J 5/10 - Radiation pyrometry, e.g. infrared or optical thermometry using electric radiation detectors
  • G06V 10/25 - Determination of region of interest [ROI] or a volume of interest [VOI]
  • G06V 20/50 - Context or environment of the image

86.

INTEGRATED NAVIGATION CALLBACKS FOR A ROBOT

      
Application Number 18338881
Status Pending
Filing Date 2023-06-21
First Publication Date 2023-12-28
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Chestnutt, Joel
  • Shanor, Rick

Abstract

One disclosed method involves at least one application controlling navigation of a robot through an environment based at least in part on a topological map, the topological map including at least a first waypoint, a second waypoint, and a first edge representing a first path between the first waypoint and the second waypoint. The at least one application determines that the topological map includes at least one feature that identifies a first service that is configured to control the robot to perform at least one operation, and instructs the first service to perform the at least one operation as the robot travels along at least a portion of the first path.

IPC Classes  ?

  • G05D 1/02 - Control of position or course in two dimensions

87.

AUTOMATICALLY TRASITIONING A ROBOT TO AN OPERATIONAL MODE OPTIMIZED FOR PARTICULAR TERRAIN

      
Application Number 18336385
Status Pending
Filing Date 2023-06-16
First Publication Date 2023-12-28
Owner BOSTON DYNAMICS, INC. (USA)
Inventor Whitman, Eric

Abstract

According to one disclosed method, one or more sensors of a robot may receive data corresponding to one or more locations of the robot along a path the robot is following within an environment on a first occasion. Based on the received data, a determination may be made that one or more stairs exist in a first region of the environment. Further, when the robot is at a position along the path the robot is following on the first occasion, a determination may be made that the robot is expected to enter the first region. The robot may be controlled to operate in a first operational mode associated with traversal of stairs when it is determined that one or more stairs exist in the first region and the robot is expected to enter the first region.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B62D 57/024 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid

88.

GROUND CLUTTER AVOIDANCE FOR A MOBILE ROBOT

      
Application Number 18337933
Status Pending
Filing Date 2023-06-20
First Publication Date 2023-12-28
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Komoroski, Adam
  • Yamauchi, Brian
  • Klingensmith, Matthew

Abstract

Methods and apparatus for navigating a robot along a route through an environment, the route being associated with a mission, are provided. The method comprises identifying, based on sensor data received by one or more sensors of the robot, a set of potential obstacles in the environment, determining, based at least in part on stored data indicating a set of footfall locations of the robot during a previous execution of the mission, that at least one of the potential obstacles in the set is an obstacle, and navigating the robot to avoid stepping on the obstacle.

IPC Classes  ?

  • G05D 1/02 - Control of position or course in two dimensions
  • G06T 7/10 - SegmentationEdge detection
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid

89.

GROUND CLUTTER AVOIDANCE FOR A MOBILE ROBOT

      
Application Number US2023025806
Publication Number 2023/249979
Status In Force
Filing Date 2023-06-21
Publication Date 2023-12-28
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Komoroski, Adam
  • Yamauchi, Brian
  • Klingensmith, Matthew

Abstract

Methods and apparatus for navigating a robot along a route through an environment, the route being associated with a mission, are provided. The method comprises identifying, based on sensor data received by one or more sensors of the robot, a set of potential obstacles in the environment, determining, based at least in part on stored data indicating a set of footfall locations of the robot during a previous execution of the mission, that at least one of the potential obstacles in the set is an obstacle, and navigating the robot to avoid stepping on the obstacle.

IPC Classes  ?

  • G05D 1/02 - Control of position or course in two dimensions

90.

A MOBILE ROBOT SYSTEM FOR AUTOMATED ASSET INSPECTION

      
Application Number US2023025849
Publication Number 2023/250005
Status In Force
Filing Date 2023-06-21
Publication Date 2023-12-28
Owner BOSTON DYNAMICS, INC. (USA)
Inventor
  • Rice, Alex
  • Finnie, Iii, Gordon
  • Da Silva, Marco
  • Bentzel, Christopher
  • Allum, Christopher
  • Roy, Justine
  • Parks, Karl

Abstract

Methods and apparatus for performing automated inspection of one or more assets in an environment using a mobile robot are provided. The method, comprises defining, within an image captured by a sensor of a robot, a region of interest that includes an asset in an environment of the robot, wherein the asset is associated with an asset identifier, configuring at least one parameter of a computer vision model based on the asset identifier, processing image data within the region of interest using the computer vision model to determine whether an alert should be generated, and outputting the alert when it is determined that the alert should be generated.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
  • B25J 19/02 - Sensing devices

91.

MITIGATING SENSOR NOISE IN LEGGED ROBOTS

      
Application Number 18457996
Status Pending
Filing Date 2023-08-29
First Publication Date 2023-12-21
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Blankespoor, Kevin
  • Da Silva, Marco

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.

IPC Classes  ?

  • B62D 57/02 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
  • B25J 9/16 - Programme controls
  • G01L 5/00 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid

92.

SYSTEMS AND METHODS FOR SYNCRONIZING MULTIPLE ELECTRONIC DEVICES

      
Application Number 18238724
Status Pending
Filing Date 2023-08-28
First Publication Date 2023-12-14
Owner Google Technology Holdings LLC (USA)
Inventor
  • Daley, Michael J.
  • Bolinger, Travis
  • O'Neal, Heath

Abstract

Embodiments are provided for syncing multiple electronic devices for collective audio playback. According to certain aspects, a master device connects (218) to a slave device via a wireless connection. The master device calculates (224) a network latency via a series of network latency pings with the slave device and sends (225) the network latency to the slave device. Further, the master devices sends (232) a portion of an audio file as well as a timing instruction including a system time to the slave device. The master device initiates (234) playback of the portion of the audio file and the slave devices initiates (236) playback of the portion of the audio file according to the timing instruction and a calculated system clock offset value.

IPC Classes  ?

  • H04W 56/00 - Synchronisation arrangements
  • H04H 20/38 - Arrangements for distribution where lower stations, e.g. receivers, interact with the broadcast
  • H04H 20/61 - Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers for local area broadcast, e.g. instore broadcast
  • H04H 20/08 - Arrangements for relaying broadcast information among terminal devices
  • H04H 20/18 - Arrangements for synchronising broadcast or distribution via plural systems
  • H04N 21/43 - Processing of content or additional data, e.g. demultiplexing additional data from a digital video streamElementary client operations, e.g. monitoring of home network or synchronizing decoder's clockClient middleware
  • H04N 21/242 - Synchronization processes, e.g. processing of PCR [Program Clock References]
  • H04H 60/88 - Arrangements characterised by transmission systems other than for broadcast, e.g. the Internet characterised by the transmission system itself the transmission system being the Internet accessed over computer networks which are wireless networks

93.

INTERMEDIATE WAYPOINT GENERATOR

      
Application Number 18456349
Status Pending
Filing Date 2023-08-25
First Publication Date 2023-12-14
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Fay, Gina Christine
  • Rizzi, Alfred

Abstract

A method for generating intermediate waypoints for a navigation system of a robot includes receiving a navigation route. The navigation route includes a series of high-level waypoints that begin at a starting location and end at a destination location and is based on high-level navigation data. The high-level navigation data is representative of locations of static obstacles in an area the robot is to navigate. The method also includes receiving image data of an environment about the robot from an image sensor and generating at least one intermediate waypoint based on the image data. The method also includes adding the at least one intermediate waypoint to the series of high-level waypoints of the navigation route and navigating the robot from the starting location along the series of high-level waypoints and the at least one intermediate waypoint toward the destination location.

IPC Classes  ?

  • G01C 21/20 - Instruments for performing navigational calculations

94.

MOVING CONTENT BETWEEN SET TOP BOX AND END DEVICES IN HOME

      
Application Number 18205051
Status Pending
Filing Date 2023-06-02
First Publication Date 2023-12-07
Owner Google Technology Holdings LLC (USA)
Inventor
  • Luthra, Ajay K.
  • Grossman, Michael A.
  • Moorthy, Praveen N.
  • Moroney, Paul
  • Ramamurthy, Arjun
  • Xu, Haifeng

Abstract

A content moving device which enables providing content stored on a first user device, such as a DVR, in a first format and resolution to be provided to a second user device, such as a portable media player (PMP) in a second format and resolution. The content moving device identifies content on the first user device as candidate content which may be desired by the PMP and receives the candidate content from the DVR. The content moving device transcodes the candidate content at times independent of a request from the PMP for the content. The content moving device may provide a list of available transcoded content to the PMP for selection, and provide selected content to the PMP. The content moving device may also provide information relating to any protection schemes of the content provided to the PMP, such as DRM rights and decryption keys. The content moving device performs the often computationally intense and time consuming transcoding of user content to enable the user to move content between different user devices in a convenient manner.

IPC Classes  ?

  • H04N 21/436 - Interfacing a local distribution network, e.g. communicating with another STB or inside the home
  • H04N 21/4147 - PVR [Personal Video Recorder]
  • H04N 21/4363 - Adapting the video stream to a specific local network, e.g. a Bluetooth® network
  • H04N 21/4402 - Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream or rendering scenes according to encoded video stream scene graphs involving reformatting operations of video signals for household redistribution, storage or real-time display
  • H04N 21/45 - Management operations performed by the client for facilitating the reception of or the interaction with the content or administrating data related to the end-user or to the client device itself, e.g. learning user preferences for recommending movies or resolving scheduling conflicts
  • H04N 21/41 - Structure of clientStructure of client peripherals

95.

Alert peripheral for notification of events occurring on a programmable user equipment with communication capabilities

      
Application Number 18233493
Grant Number 12262348
Status In Force
Filing Date 2023-08-14
First Publication Date 2023-11-30
Grant Date 2025-03-25
Owner GOOGLE TECHNOLOGY HOLDINGS LLC (USA)
Inventor
  • Cavallaro, Alberto R.
  • Pais, Martin R.

Abstract

An alert peripheral device that provides sensory notification to a user of the device includes: a power subsystem; a communication mechanism by which notification signals is received from a first user equipment (UE) that generates and transmits the notification signals in response to detection of specific events at the first UE; and a response notification mechanism that provides a sensory response of the peripheral device following receipt of a notification of a detected event (NDE) signal. The device further includes an embedded controller coupled to each of the other components and which includes firmware that when executed on the embedded controller configures the embedded controller to: establish a communication link between the communication mechanism and the first UE; and in response to detecting a receipt of the NDE signal from the first UE, trigger the response notification mechanism to exhibit the sensory response.

IPC Classes  ?

  • H04W 68/02 - Arrangements for increasing efficiency of notification or paging channel
  • H04B 1/3827 - Portable transceivers
  • H04M 1/72412 - User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories using two-way short-range wireless interfaces
  • H04M 19/04 - Current supply arrangements for telephone systems providing ringing current or supervisory tones, e.g. dialling tone or busy tone the ringing-current being generated at the substations
  • H04W 4/12 - MessagingMailboxesAnnouncements
  • H04W 4/14 - Short messaging services, e.g. short message service [SMS] or unstructured supplementary service data [USSD]
  • H04W 76/14 - Direct-mode setup
  • H04W 76/40 - Connection management for selective distribution or broadcast

96.

Non-planar linear actuator

      
Application Number 18360223
Grant Number 12122044
Status In Force
Filing Date 2023-07-27
First Publication Date 2023-11-16
Grant Date 2024-10-22
Owner Boston Dynamics, Inc. (USA)
Inventor Webb, Jacob Daniel

Abstract

A drive system includes a linear actuator with a drive shaft and having an actuation axis extending along a length of the linear actuator. A motor assembly of the drive system couples to drive shaft and is configured to rotate the drive shaft about the actuation axis of the linear actuator. The drive system further includes a nut attached to the drive shaft and a carrier housing the nut. A linkage system of the drive system extends from a proximal end away from the motor assembly to a distal end. The proximal end of the linkage system rotatably attaches to the carrier at a first proximal attachment location where the first proximal attachment location offset is from the actuation axis. The drive system also includes an output link rotatably coupled to the distal end of the linkage system where the output link is offset from the actuation axis.

IPC Classes  ?

  • B25J 17/00 - Joints
  • B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
  • F16H 25/20 - Screw mechanisms
  • F16H 37/12 - Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these three types

97.

System and method for decoding using parallel processing

      
Application Number 17200761
Grant Number RE049727
Status In Force
Filing Date 2021-03-12
First Publication Date 2023-11-14
Grant Date 2023-11-14
Owner GOOGLE INC. (USA)
Inventor
  • Xu, Yaowu
  • Wilkins, Paul
  • Bankoski, James

Abstract

An apparatus for decoding frames of a compressed video data stream having at least one frame divided into partitions, includes a memory and a processor configured to execute instructions stored in the memory to read partition data information indicative of a partition location for at least one of the partitions, decode a first partition of the partitions that includes a first sequence of blocks, decode a second partition of the partitions that includes a second sequence of blocks identified from the partition data information using decoded information of the first partition.

IPC Classes  ?

  • H04N 19/61 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using transform coding in combination with predictive coding
  • H04N 19/91 - Entropy coding, e.g. variable length coding [VLC] or arithmetic coding
  • H04N 19/82 - Details of filtering operations specially adapted for video compression, e.g. for pixel interpolation involving filtering within a prediction loop
  • H04N 19/17 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object
  • H04N 19/593 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving spatial prediction techniques
  • H04N 19/44 - Decoders specially adapted therefor, e.g. video decoders which are asymmetric with respect to the encoder
  • H04N 19/174 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object the region being a slice, e.g. a line of blocks or a group of blocks
  • H04N 19/176 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object the region being a block, e.g. a macroblock
  • H04N 19/436 - Methods or arrangements for coding, decoding, compressing or decompressing digital video signals characterised by implementation details or hardware specially adapted for video compression or decompression, e.g. dedicated software implementation using parallelised computational arrangements
  • H04N 19/51 - Motion estimation or motion compensation

98.

Autonomous Map Traversal with Waypoint Matching

      
Application Number 18354500
Status Pending
Filing Date 2023-07-18
First Publication Date 2023-11-09
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Jonak, Dom
  • Da Silva, Marco
  • Chestnutt, Joel
  • Klingensmith, Matt

Abstract

A robot includes a drive system configured to maneuver the robot about an environment and data processing hardware in communication with memory hardware and the drive system. The memory hardware stores instructions that when executed on the data processing hardware cause the data processing hardware to perform operations. The operations include receiving image data of the robot maneuvering in the environment and executing at least one waypoint heuristic. The at least one waypoint heuristic is configured to trigger a waypoint placement on a waypoint map. In response to the at least one waypoint heuristic triggering the waypoint placement, the operations include recording a waypoint on the waypoint map where the waypoint is associated with at least one waypoint edge and includes sensor data obtained by the robot. The at least one waypoint edge includes a pose transform expressing how to move between two waypoints.

IPC Classes  ?

  • G05D 1/02 - Control of position or course in two dimensions
  • G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
  • G06T 7/521 - Depth or shape recovery from laser ranging, e.g. using interferometryDepth or shape recovery from the projection of structured light
  • G06T 7/13 - Edge detection
  • G06T 7/593 - Depth or shape recovery from multiple images from stereo images
  • G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
  • G06V 20/10 - Terrestrial scenes

99.

GENERALIZED COORDINATE SURROGATES FOR INTEGRATED ESTIMATION AND CONTROL

      
Application Number 18345405
Status Pending
Filing Date 2023-06-30
First Publication Date 2023-11-02
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Nelson, Gabriel
  • Stephens, Benjamin

Abstract

A robotic device includes a control system. The control system receives a first measurement indicative of a first distance between a center of mass of the machine and a first position in which a first leg of the machine last made initial contact with a surface. The control system also receives a second measurement indicative of a second distance between the center of mass of the machine and a second position in which the first leg of the machine was last raised from the surface. The control system further determines a third position in which to place a second leg of the machine based on the received first measurement and the received second measurement. Additionally, the control system provides instructions to move the second leg of the machine to the determined third position.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B62D 57/032 - Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legVehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted feet or skid
  • B25J 19/02 - Sensing devices
  • B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
  • B25J 5/00 - Manipulators mounted on wheels or on carriages

100.

Palletizing boxes

      
Application Number 18349511
Grant Number 12240122
Status In Force
Filing Date 2023-07-10
First Publication Date 2023-11-02
Grant Date 2025-03-04
Owner Boston Dynamics, Inc. (USA)
Inventor
  • Neville, Neil
  • Blankespoor, Kevin
  • Barry, Jennifer
  • Perkins, Alexander Douglas

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.

IPC Classes  ?

  • B25J 9/16 - Programme controls
  • B25J 5/00 - Manipulators mounted on wheels or on carriages
  • B25J 9/00 - Programme-controlled manipulators
  • B25J 15/00 - Gripping heads
  • B25J 15/06 - Gripping heads with vacuum or magnetic holding means
  • B65G 57/24 - Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers, each of predetermined arrangement the layers being transferred as a whole, e.g. on pallets
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