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1. 发明公开

EP4296151A3 WHOLE BODY MANIPULATION ON A LEGGED ROBOT USING DYNAMIC BALANCE 审中-公开
公开(公告)号：EP4296151A3
公开(公告)日：2024-08-07
申请号：EP23209082.9
申请日：2017-12-06
申请人： Boston Dynamics, Inc.
发明人： BLANKESPOOR, Kevin , STEPHENS, Benjamin , HUDSON, Nicolas , ABE, Yeuhi , BARRY, Jennifer
IPC分类号： B25J9/16 , B62D57/02 , B62D57/024 , B62D57/032
CPC分类号： B25J9/162 , B25J9/1633 , G05B2219/4029820130101 , B62D57/032 , Y10S901/01
摘要： A robot system (400) includes: an upper body section (408b) including one or more end-effectors (422, 424); a lower body section (408a) including one or more legs (404, 406); and an intermediate body section (408c) coupling the upper and lower body sections. An upper body control system (417b) 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 (417a) the one or more legs. The 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 one or more legs operate 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.

2. 发明授权

EP3218776B1 POSITION-CONTROLLED ROBOTIC FLEET WITH VISUAL HANDSHAKES 有权转让
公开(公告)号：EP3218776B1
公开(公告)日：2022-08-17
申请号：EP15801553.7
申请日：2015-11-09
发明人： MASON, Julian , KONOLIGE, Kurt
IPC分类号： G05D1/02 , G05B19/418

3. 发明公开

EP3864484A2 AUTONOMOUS MAP TRAVERSAL WITH WAYPOINT MATCHING 审中-实审转让
公开(公告)号：EP3864484A2
公开(公告)日：2021-08-18
申请号：EP19765841.2
申请日：2019-08-23
申请人： Boston Dynamics, Inc.
发明人： JONAK, Dom , DA SILVA, Marco , CHESTNUTT, Joel , KLINGENSMITH, Matt
IPC分类号： G05D1/02

4. 发明公开

EP3761489A1 MOTOR AND CONTROLLER INTEGRATION FOR A LEGGED ROBOT 无效转让
公开(公告)号：EP3761489A1
公开(公告)日：2021-01-06
申请号：EP20192619.3
申请日：2017-12-13
申请人： Boston Dynamics, Inc.
发明人： JACKOWSKI, Zachary John , ROGERS, Kyle , YOUNG, Adam
IPC分类号： H02K11/33 , H02K11/215 , H02K11/24 , H02K11/25 , H02K9/22 , H02K7/00 , B25J9/12 , A61F5/01 , H02K7/116
摘要： An example robot (300) includes: a motor (1502) disposed within a housing (1504) at a joint (403, 403, 424, 800) configured to control motion of a member (1524) of a robot; a controller (1508) including one or more printed circuit boards (PCBs) (1510, 1512, 1534) disposed within the housing and including a plurality of field-effect transistors (FETs) (1540) disposed on a surface of a PCB of the one or more PCBs facing the motor; a rotary position sensor (1520) mounted on the controller; a shaft (1514) coupled to a rotor of the motor and extending therefrom to the controller; and a magnet (1518) mounted within the shaft at an end of the shaft facing the controller.

5. 发明公开

EP3504669A1 AUTONOMOUS SHUFFLING OF PALLETS OF ITEMS IN A WAREHOUSE 审中-实审转让
公开(公告)号：EP3504669A1
公开(公告)日：2019-07-03
申请号：EP17844070.7
申请日：2017-07-11
申请人： X Development LLC
发明人： HANCE, Christopher , SHAFFER, Daniel
IPC分类号： G06Q10/04 , G06Q10/08

6. 发明公开

EP3491477A1 INVENTORY MANAGEMENT 无效转让
公开(公告)号：EP3491477A1
公开(公告)日：2019-06-05
申请号：EP17834937.9
申请日：2017-07-05
申请人： X Development LLC
发明人： HANCE, Christopher , SHAFFER, Daniel
IPC分类号： G05D1/02 , G06T7/11 , G06T1/00

7. 发明公开

EP3491476A1 COLLABORATIVE INVENTORY MONITORING 审中-实审转让
公开(公告)号：EP3491476A1
公开(公告)日：2019-06-05
申请号：EP17834936.1
申请日：2017-07-05
申请人： X Development LLC
发明人： HANCE, Christopher , SHAFFER, Daniel
IPC分类号： G05D1/02 , G06T1/00 , G06Q50/28

8. 发明公开

EP3278073A1 FLEXURE BASED TORQUE SENSOR 有权转让
标题翻译：基于弯曲的扭矩传感器
公开(公告)号：EP3278073A1
公开(公告)日：2018-02-07
申请号：EP16714175.3
申请日：2016-03-23
申请人： Google LLC
发明人： MURPHY, Michael, Patrick , CAMPBELL, Donald
IPC分类号： G01L1/12 , G01L3/14 , B25J9/08 , B25J9/10
CPC分类号： B25J19/02 , B25J9/0015 , B25J13/085 , B25J17/00 , G01L1/122 , G01L3/04 , G01L3/1428 , G01L3/1435 , Y10S901/28 , Y10S901/46
摘要： An example device may include an annular flexure hub including a first stationary head, a second stationary head, a first rotatable head, and a second rotatable head. Each of the heads comprise an annular sector of the flexure hub, and the first and second stationary heads are interleaved between the first and second rotatable heads. The device may also include a stationary housing coupled to the first stationary head and the second stationary head of the flexure hub. The device may also include a first sensor positioned adjacent to the first rotatable head of the flexure hub, and a second sensor positioned adjacent to the second rotatable head of the flexure hub. The device may also include a rotatable housing coupled to the first rotatable head and the second rotatable head of the flexure hub.

9. 发明公开

EP3172450A2 ACTUATOR LIMIT CONTROLLER 有权转让
标题翻译：执行机构限制控制器
公开(公告)号：EP3172450A2
公开(公告)日：2017-05-31
申请号：EP15824362.6
申请日：2015-05-12
申请人： Google Inc.
发明人： PERKINS, Alex , BLANKESPOOR, Kevin , RIZZI, Alfred
IPC分类号： F15B15/24 , F15B15/08 , F15B15/14
摘要： In some applications, a piston of a hydraulic actuator may move at high speeds, and large undesired forces may be generated if the piston reaches an end-stop of the hydraulic actuator at a high speed. The undesired forces may, for example, cause mechanical damage in the hydraulic actuator. A controller may receive information indicative of the piston reaching a first position at a first threshold distance from the end-stop, and, in response, may modify a signal to a valve assembly controlling flow of hydraulic fluid to and from the hydraulic actuator. Further, the controller may receive information indicative of the piston reaching a second position at a second threshold distance closer to the end-stop of the hydraulic actuator, and, in response, the controller may further modify the signal to the valve assembly so as to apply a force on the piston in a away from the end-stop.
摘要翻译：在一些应用中，液压致动器的活塞可以高速运动，并且如果活塞高速到达液压致动器的末端止动件，则可能产生大的不期望的力。例如不希望的力可能导致液压致动器的机械损坏。控制器可以接收指示活塞在距端部止动器第一阈值距离处到达第一位置的信息，并且作为响应，可以修改信号到阀组件，以控制液压流体流入和流出液压致动器。此外，控制器可以接收指示活塞到达第二阈值距离处的第二阈值距离的信息，所述第二阈值距离更靠近液压致动器的端部止挡，并且作为响应，控制器可以进一步修改到阀组件的信号，以便在活塞上施加一个远离终点挡板的力。

10. 发明授权

EP3969763B1 ROTARY VALVE ASSEMBLY 有权
公开(公告)号：EP3969763B1
公开(公告)日：2024-03-13
申请号：EP20728622.0
申请日：2020-05-08
发明人： POTTER, Steven, D. , THORNE, Christopher, Everett , SAUNDERS, John Aaron
IPC分类号： F15B13/04

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