Patents by Inventor Marco da Silva
Marco da Silva has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11340620Abstract: A method for controlling a robot includes receiving image data from at least one image sensor. The image data corresponds to an environment about the robot. The method also includes executing a graphical user interface configured to display a scene of the environment based on the image data and receive an input indication indicating selection of a pixel location within the scene. The method also includes determining a pointing vector based on the selection of the pixel location. The pointing vector represents a direction of travel for navigating the robot in the environment. The method also includes transmitting a waypoint command to the robot. The waypoint command when received by the robot causes the robot to navigate to a target location. The target location is based on an intersection between the pointing vector and a terrain estimate of the robot.Type: GrantFiled: October 23, 2019Date of Patent: May 24, 2022Assignee: Boston Dynamics, Inc.Inventors: Samuel Seifert, Marco da Silva, Alexander Rice, Leland Hepler, Mario Bollini, Christopher Bentzel
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Publication number: 20220143828Abstract: 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.Type: ApplicationFiled: January 21, 2022Publication date: May 12, 2022Applicant: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Alex Perkins, Marco da Silva
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Patent number: 11203385Abstract: 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.Type: GrantFiled: April 24, 2019Date of Patent: December 21, 2021Assignee: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Alex Perkins, Marco da Silva
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Publication number: 20210380185Abstract: 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.Type: ApplicationFiled: August 24, 2021Publication date: December 9, 2021Applicant: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Marco da Silva
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Publication number: 20210347041Abstract: 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 predetermined 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.Type: ApplicationFiled: July 20, 2021Publication date: November 11, 2021Applicant: Boston Dynamics, Inc.Inventors: Marco da Silva, Benjamin Stephens, Alfred Anthony Rizzi, Yeuhi Abe
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Publication number: 20210325893Abstract: A method for constraining robot autonomy language includes receiving a navigation command to navigate a robot to a mission destination within an environment of the robot and generating a route specification for navigating the robot from a current location in the environment to the mission destination in the environment. The route specification includes a series of route segments. Each route segment in the series of route segments includes a goal region for the corresponding route segment and a constraint region encompassing the goal region. The constraint region establishes boundaries for the robot to remain within while traversing toward the goal region. The route segment also includes an initial path for the robot to follow while traversing the corresponding route segment.Type: ApplicationFiled: May 27, 2020Publication date: October 21, 2021Applicant: Boston Dynamics, Inc.Inventors: Gina Fay, Joel Chestnutt, Marco da Silva, Alfred Anthony Rizzi
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Patent number: 11124252Abstract: 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.Type: GrantFiled: February 6, 2020Date of Patent: September 21, 2021Assignee: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Marco da Silva
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Patent number: 11084167Abstract: 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 predetermined 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.Type: GrantFiled: August 22, 2018Date of Patent: August 10, 2021Assignee: Boston Dynamics, Inc.Inventors: Marco da Silva, Benjamin Stephens, Alfred Anthony Rizzi, Yeuhi Abe
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Publication number: 20210229766Abstract: An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.Type: ApplicationFiled: April 13, 2021Publication date: July 29, 2021Applicant: Boston Dynamics, Inc.Inventors: Christopher Everett Thorne, John Aaron Saunders, Marco da Silva, Thomas H. Miller, Alexander Douglas Perkins
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Publication number: 20210171135Abstract: 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.Type: ApplicationFiled: January 26, 2021Publication date: June 10, 2021Applicant: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Alex Perkins, Marco da Silva
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Publication number: 20210146548Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.Type: ApplicationFiled: December 22, 2020Publication date: May 20, 2021Applicant: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
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Publication number: 20210141389Abstract: 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.Type: ApplicationFiled: January 25, 2021Publication date: May 13, 2021Applicant: Boston Dynamics, Inc.Inventors: Dom Jonak, Marco da Silva, Joel Chestnutt, Matt Klingensmith
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Patent number: 10988192Abstract: An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.Type: GrantFiled: December 19, 2017Date of Patent: April 27, 2021Assignee: Boston Dynamics, Inc.Inventors: Christopher Everett Thorne, John Aaron Saunders, Marco da Silva, Thomas H. Miller, Alexander Douglas Perkins
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Publication number: 20210107163Abstract: The disclosure provides a method for generating a joint command. The method includes receiving a maneuver script including a plurality of maneuvers for a legged robot to perform where each maneuver is associated with a cost. The method further includes identifying that two or more maneuvers of the plurality of maneuvers of the maneuver script occur at the same time instance. The method also includes determining a combined maneuver for the legged robot to perform at the time instance based on the two or more maneuvers and the costs associated with the two or more maneuvers. The method additionally includes generating a joint command to control motion of the legged robot at the time instance where the joint command commands a set of joints of the legged robot. Here, the set of joints correspond to the combined maneuver.Type: ApplicationFiled: October 14, 2019Publication date: April 15, 2021Applicant: Boston Dynamics, Inc.Inventors: Matthew Klingensmith, Eric Whiman, Marco da Silva, Alfred Rizzi
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Publication number: 20210041878Abstract: A method for controlling a robot includes receiving image data from at least one image sensor. The image data corresponds to an environment about the robot. The method also includes executing a graphical user interface configured to display a scene of the environment based on the image data and receive an input indication indicating selection of a pixel location within the scene. The method also includes determining a pointing vector based on the selection of the pixel location. The pointing vector represents a direction of travel for navigating the robot in the environment. The method also includes transmitting a waypoint command to the robot. The waypoint command when received by the robot causes the robot to navigate to a target location. The target location is based on an intersection between the pointing vector and a terrain estimate of the robot.Type: ApplicationFiled: October 23, 2019Publication date: February 11, 2021Applicant: Boston Dynamics, Inc.Inventors: Samuel Seifert, Marco da Silva, Alexander Rice, Leland Hepler, Mario Bollini, Christopher Bentzel
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Patent number: 10888999Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.Type: GrantFiled: May 8, 2020Date of Patent: January 12, 2021Assignee: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
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Publication number: 20200269430Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.Type: ApplicationFiled: May 8, 2020Publication date: August 27, 2020Applicant: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
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Publication number: 20200172183Abstract: 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.Type: ApplicationFiled: February 6, 2020Publication date: June 4, 2020Applicant: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Marco da Silva
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Patent number: 10668624Abstract: An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.Type: GrantFiled: July 30, 2019Date of Patent: June 2, 2020Assignee: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
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Publication number: 20200117214Abstract: 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.Type: ApplicationFiled: March 7, 2019Publication date: April 16, 2020Applicant: Boston Dynamics, Inc.Inventors: Dom Jonak, Marco da Silva, Joel Chestnutt, Matt Klingensmith