Patents Assigned to Dynamics Inc.
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Patent number: 11073842Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.Type: GrantFiled: January 25, 2021Date of Patent: July 27, 2021Assignee: Boston Dynamics, Inc.Inventors: Eric Cary Whitman, Gene Brown Merewether
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Patent number: 11059532Abstract: 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.Type: GrantFiled: July 26, 2018Date of Patent: July 13, 2021Assignee: Boston Dynamics, Inc.Inventors: Gina Christine Fay, Alex Yu Khripin, Eric Whitman
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Publication number: 20210205065Abstract: The present invention provides delivery systems for positioning a gastrointestinal implant in a patient, for example, for treatment of a metabolic disease. Also provided are methods for assembling the delivery systems, methods of positioning a gastrointestinal implant, and methods of treatment of metabolic diseases, such as type 2 diabetes, non-alcoholic steatohepatitis (NASH), non-alcoholic fatty liver disease (NAFLD), obesity, and related comorbidities thereof.Type: ApplicationFiled: January 30, 2017Publication date: July 8, 2021Applicants: GI Dynamics, Inc., GI Dynamics, Inc.Inventors: Nicholas COTE, Ryan HANLON, Ronald B. LAMPORT, Barry MAXWELL, John PANEK, Ian K. PARKER, Scott SCHORER, Nicholas WILLIAMS
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Patent number: 11053871Abstract: An apparatus intercepts and modifies sensor signals generated by vehicle sensors and provides the modified signals to an engine control unit in the vehicle. The engine control unit is configured to receive the modified sensor signals and generate engine control signals based thereon. The apparatus includes a fuel composition sensor and a fuel control module. The fuel composition sensor senses characteristics of fuel in the vehicle and generates a fuel composition signal based on the sensed characteristics. The fuel control module, which intercepts the sensor signals from the vehicle sensors, includes a processor programmed to generate modified sensor signals based on the intercepted sensor signals and the fuel composition signal. Based on the modified sensor signals, the engine control unit optimizes the performance of the engine for a given ratio of alcohol to gasoline in an alcohol/gasoline fuel blend.Type: GrantFiled: December 15, 2020Date of Patent: July 6, 2021Assignee: Advanced Fuel Dynamics, Inc.Inventor: Ryan Truax
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Patent number: 11042129Abstract: Systems and methods for a redundant wireless safety system that provides a second level of safety protocol when a worker is exposed to a more dangerous work environment. In an embodiment, such a machine may be configured to perform a specific manufacturing function wherein the machine may include first and second transceivers for maintaining enabling signals for functionality of the machine. The system may further include a base station (e.g., remote control) configured to operate in conjunction with the machine that in turn includes third and fourth transceivers also configured to maintain enabling signals for machine functionality. Machine functionality may be interrupted by an interrupt switch disposed in the machine. That is, the interrupt switch may be configured to enable functionality of the machine if and only if the first transceiver maintains periodic communication with the third transceiver and if the second transceiver maintains periodic communication with the fourth transceiver.Type: GrantFiled: June 5, 2019Date of Patent: June 22, 2021Assignee: Control Dynamics, Inc.Inventor: Eric M. Moran
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Publication number: 20210180619Abstract: 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.Type: ApplicationFiled: February 24, 2021Publication date: June 17, 2021Applicant: Boston Dynamics, Inc.Inventors: Michael Murphy, John Aaron Saunders, Steven Potter
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Patent number: 11034465Abstract: This specification discloses an aircraft maintenance kit. The aircraft maintenance kit comprises a plurality of packages with each package of the plurality of packages comprising a unique aircraft maintenance zone designation and at least one maintenance zone component. Each unique aircraft maintenance zone designation preferably corresponds to a unique maintenance zone of the aircraft. Preferably, the aircraft maintenance kit also comprises an aircraft schematic comprising a plurality of aircraft schematic zones. Each aircraft schematic zone preferably comprises a unique aircraft schematic zone designation corresponding to one of the unique aircraft maintenance zone designations.Type: GrantFiled: March 14, 2018Date of Patent: June 15, 2021Assignee: Cutting Dynamics, Inc.Inventors: Joseph Brady, William Ryall
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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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Patent number: 11029240Abstract: A wick liquid sensor suitable for use in a particle condensation device is provided. The sensor includes a light source configured to illuminate a surface of the wick. A detector is configured to detect wick reflected light from the light source and determine the intensity of reflected light. The wick is formed from a porous media that is wettable by the liquid, and becomes translucent when filled with the liquid. The amount of reflectivity decreases as the saturation content of the liquid in the wick increases.Type: GrantFiled: October 12, 2018Date of Patent: June 8, 2021Assignee: Aerosol Dynamics Inc.Inventors: Susanne Vera Hering, Steven Russel Spielman, Gregory Stephen Lewis
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Patent number: 11026698Abstract: Disclosed is a bone cutting and shortening system and the method of using the same, the system comprising a bone plate and a cutting guide adapted to slidingly engage by inserting the cutting guide into the bone plate from the overhead direction, the cutting guide adapted to facilitate parallel cutting planes on a bone at precisely ascertainable offset distances, and the bone plate adapted to stabilize the shortened bone after cutting.Type: GrantFiled: October 28, 2020Date of Patent: June 8, 2021Assignee: Skeletal Dynamics, Inc.Inventors: Jorge L. Orbay, Brian A. Cooke, Edward J. Tremols
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Patent number: 11026826Abstract: The present invention provides gastrointestinal devices for limiting transfer and contact of material across luminal walls along a segment of the gastrointestinal tract (e.g., at the duodenum and/or upper jejunum). Devices of the invention include a gastrointestinal sleeve, an anchor, and a flange for attachment to a luminal wall proximal to the pyloric orifice. The invention also provides methods of use associated with such gastrointestinal devices, including methods for delivery, removal, and treatment of metabolic disorders, such as type 2 diabetes, non-alcoholic steatohepatitis, non-alcoholic fatty liver disease, obesity, and related comorbidities thereof by implanting gastrointestinal devices.Type: GrantFiled: January 30, 2017Date of Patent: June 8, 2021Assignee: GI Dynamics, Inc.Inventors: Paul Dicesare, Jeffrey P. Radziunas, Ronald L. Green, Dominick L. Mastri, Scott Schorer, Nicholas Williams
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Patent number: 11027415Abstract: 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.Type: GrantFiled: August 6, 2018Date of Patent: June 8, 2021Assignee: Boston Dynamics, Inc.Inventors: Gabriel Nelson, Benjamin Stephens
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Patent number: 11023763Abstract: 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.Type: GrantFiled: March 19, 2019Date of Patent: June 1, 2021Assignee: Boston Dynamics, Inc.Inventors: Alex Perkins, Charles DuHadway, Peter Anderson-Sprecher
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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: 20210147017Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.Type: ApplicationFiled: January 26, 2021Publication date: May 20, 2021Applicant: Boston Dynamics, Inc.Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
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Publication number: 20210147016Abstract: An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, and cause the second foot to contact the ground surface.Type: ApplicationFiled: January 26, 2021Publication date: May 20, 2021Applicant: Boston Dynamics, Inc.Inventor: Benjamin Stephens
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Publication number: 20210139847Abstract: Provided herein are methods of producing an RPE cell population from a starting cell suspension, such as a single cell suspension, of pluripotent stem cells (PSCs). Such a method may comprise culturing the starting single cell suspension of PSCs in differentiation media to produce human RPE cells.Type: ApplicationFiled: July 16, 2020Publication date: May 13, 2021Applicants: The United States of America,as represented by the Secretary,Department of Health and Human Services, FUJIFILM Cellular Dynamics, Inc.Inventors: Kapil Bharti, Lucas Chase, Feng Xuezhu, Balendu Shekhar Jha
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Publication number: 20210138650Abstract: A method for negotiating stairs includes receiving image data about a robot maneuvering in an environment with stairs. Here, the robot includes two or more legs. Prior to the robot traversing the stairs, for each stair, the method further includes determining a corresponding step region based on the received image data. The step region identifies a safe placement area on a corresponding stair for a distal end of a corresponding swing leg of the robot. Also prior to the robot traversing the stairs, the method includes shifting a weight distribution of the robot towards a front portion of the robot. When the robot traverses the stairs, the method further includes, for each stair, moving the distal end of the corresponding swing leg of the robot to a target step location where the target step location is within the corresponding step region of the stair.Type: ApplicationFiled: January 25, 2021Publication date: May 13, 2021Applicant: Boston Dynamics, Inc.Inventors: Eric Whitman, Gina Christine Fay, Benjamin Swilling
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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: 11000396Abstract: A gastrointestinal implant device (2800) comprises a planar proximal element (220) configured to reside in a stomach to resist distal migration, a distal element (222) configured to reside in an intestine to resist proximal migration and one or more tethers (224) coupling the planar proximal element to the distal element.Type: GrantFiled: October 30, 2018Date of Patent: May 11, 2021Assignee: GI Dynamics, Inc.Inventors: Andres Chamorro, III, Andy H. Levine, David A. Melanson, Barry Maxwell, Richard A. Gambale