Patents Assigned to Dynamics Inc.
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Patent number: 10780578Abstract: A method of operating a robot includes driving a robot to approach a reach point, extending a manipulator arm forward of the reach point, and maintaining a drive wheel and a center of mass of the robot rearward of the reach point by moving a counter-balance body relative to an inverted pendulum body while extending the manipulator arm forward of the reach point. The robot includes the inverted pendulum body, the counter-balance body deposed on the inverted pendulum body, the manipulator arm connected to the inverted pendulum body, at least one leg having a first end prismatically coupled to the inverted pendulum body, and the drive wheel rotatably coupled to a second end of the at least one leg.Type: GrantFiled: February 22, 2018Date of Patent: September 22, 2020Assignee: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, John Aaron Saunders, Steven D. Potter, Vadim Chernyak, Shervin Talebinejad
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Publication number: 20200290217Abstract: A robotic leg includes a hip, a first pulley attached to the hip and defining a first axis of rotation, a first leg portion having a first end portion and a second end portion, a second pulley rotatably coupled to the second end portion of the first leg portion and defining a second axis of rotation, a second leg portion having a first end portion and a second end portion, and a timing belt trained about the first pulley and the second pulley for synchronizing rotation of the first leg portion about the first axis of rotation and rotation of the second leg portion about the second axis of rotation. The first end portion of the first leg portion is rotatably coupled to the hip and configured to rotate about the first axis of rotation. The first end portion of the second leg portion is fixedly attached to the second pulley.Type: ApplicationFiled: March 12, 2019Publication date: September 17, 2020Applicant: Boston Dynamics, Inc.Inventor: Vadim Chernyak
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Publication number: 20200290213Abstract: 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.Type: ApplicationFiled: June 1, 2020Publication date: September 17, 2020Applicant: Boston Dynamics, Inc.Inventors: Stephen Berard, Alexander Yu Khripin, Benjamin Swilling
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Publication number: 20200277893Abstract: Typically, an engine-compressor for compressing natural gas for use as a fuel has a single cooling circuit to cool both its combustion unit and compression unit. A single cooling circuit design is not ideal because the optimal temperature for the combustion unit is higher than the compression unit of the engine-compressor. The present invention provides a dual zone cooling system to cool the combustion unit separately from the compression unit.Type: ApplicationFiled: June 27, 2018Publication date: September 3, 2020Applicant: Onboard Dynamics, Inc.Inventors: Daniel S. PEDERSEN, Guy R. BABBITT, Kristina WEYER-GEIGEL
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Patent number: 10759599Abstract: An example system includes a robotic device deployed in a warehouse environment including a plurality of inventory items. The system also includes a camera coupled to the robotic device, configured to capture image data. The system also includes a computing system configured to receive the captured image data. The computing system is configured to, based on the received image data, generate a navigation instruction for navigation of the robotic device. The computing system is also configured to analyze the received image data to detect one or more on-item visual identifiers corresponding to one or more inventory items. The computing system is further configured to, for each detected visual identifier, (i) determine a warehouse location of the corresponding inventory item, (ii) compare the determined warehouse location to an expected location, and (iii) initiate an action based on the comparison.Type: GrantFiled: November 19, 2019Date of Patent: September 1, 2020Assignee: Boston Dynamics, Inc.Inventors: Christopher Hance, Daniel Shaffer
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Publication number: 20200269540Abstract: This specification discloses an article of manufacture. The article of manufacture has at least one structural blank and at least one guide. The structural blank has a plurality of oriented fiber plies in a thermoplastic matrix. The guide has a plurality of random dispersed fibers in a thermoplastic matrix. The guide is affixed to the structural blank by injection molding and over molding the guide onto the structural blank. The article of manufacture can take a number of forms for use in industries such as aircraft, automobiles, motorcycles, bicycles, trains or watercraft.Type: ApplicationFiled: May 4, 2020Publication date: August 27, 2020Applicant: Cutting Dynamics, Inc.Inventors: William V. CARSON, JR., George Bielert, Rocco Deangelis
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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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Patent number: 10755824Abstract: Controlled-debris elements inhibit the formation of a fibrous/particulate debris bed that unduly increases the pressure head loss through the perforated plates of strainers in a nuclear power plant emergency core cooling system. In a loss of cooling accident, pumps draw cooling water through the plates, which retain on their surfaces fibrous material in the circulating water to prevent it from reaching the pumps while permitting entrained particulate matter to pass through the perforations. The controlled-debris elements have a specific gravity substantially the same as the circulating water so they are entrained in the cooling water that is drawn toward the strainers and intimately intermix with the fibrous and particulate matter in the cooling water. The elements are configured to provide open structures in the bed formed on the plate surfaces to distribute fibers in the flow away from the surface and maintain cavities between the elements for the particulates.Type: GrantFiled: November 20, 2017Date of Patent: August 25, 2020Assignee: Continuum Dynamics, Inc.Inventors: Alan J. Bilanin, Andrew E. Kaufman, Raymond Tiberge
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Publication number: 20200263139Abstract: Provided herein are methods for the efficient in vitro differentiation of HLA homozygous blood cell-derived pluripotent stem cells to hematopoietic precursor cells, and the further differentiation of the hematopoietic precursor cells into HLA homozygous immune cells of various myeloid or lymphoid lineages, particularly T cells, NK cells, and dendritic cells. The pluripotent cells may be maintained and differentiated under defined conditions; thus, the use of mouse feeder cells or serum is not required in certain embodiments for the differentiation of the hematopoietic precursor cells.Type: ApplicationFiled: October 5, 2017Publication date: August 20, 2020Applicant: FUJIFILM Cellular Dynamics, Inc.Inventors: Maksym A. VODYANYK, Xin ZHANG, Andrew J. BRANDL, Deepika RAJESH, Bradley SWANSON, Christie MUNN, Sarah BURTON, Wen Bo WANG
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Publication number: 20200262068Abstract: A method for operating a robot includes receiving a drive command to drive the robot across a work surface. The drive command includes a work mode command or a travel mode command. In response to receiving the work mode command, the method includes operating the robot in a work mode. In the work mode, the robot dynamically balances on a right drive wheel and a left drive wheel on the work surface, while keeping a non-drive wheel off of the work surface. In response to receiving the travel mode command, the method includes operating the robot in a travel mode. In the travel mode, the robot statically balances on the right drive wheel, the left drive wheel, and the non-drive wheel in contact with the work surface.Type: ApplicationFiled: February 15, 2019Publication date: August 20, 2020Applicant: Boston Dynamics, Inc.Inventors: Adrianna Rodriguez, Alexander Douglas Perkins
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Publication number: 20200256399Abstract: 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.Type: ApplicationFiled: April 27, 2020Publication date: August 13, 2020Applicant: Bostyon Dynamics, Inc.Inventors: Zachary John Jackowski, Adam Young
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Publication number: 20200254621Abstract: A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.Type: ApplicationFiled: April 27, 2020Publication date: August 13, 2020Applicant: Boston Dynamics, Inc.Inventors: Alex Khripin, Alfred Anthony Rizzi
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Publication number: 20200240894Abstract: A method and apparatus for evaluating the chemical composition of airborne particles by sequentially collecting and analyzing airborne particles in-situ. The method includes: collecting particles; enlarging the particles through water condensation; accelerating the enlarged particles onto a surface to collect enlarged particles; and analyzing the enlarged particles by: isolating the surface; passing a carrier gas over the surface; heating the surface to thermally desorb collected particles into the carrier gas; transporting this evolved vapor into detectors; and assaying the evolved vapor as a function of a desorption temperature. The apparatus includes: a sample flow inlet; a condensational growth tube; a collection and thermal desorption (CTD) cell; a carrier gas source; a heater coupled to the CTD; one or more gas detectors; and a controller configured to operate valves, the heater, the growth tube, and the CTD cell in at least an in-situ sequential collection mode and analysis mode.Type: ApplicationFiled: January 28, 2020Publication date: July 30, 2020Applicant: Aerosol Dynamics Inc.Inventors: Gabriel Isaacman-VanWertz, Nathan M. Kreisberg, Susanne V. Hering
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Patent number: 10724911Abstract: Disclosed herein is a belt tension measuring device utilizing a first end roller, the first end roller supporting the belt; a second end roller having an axis of rotation parallel to the first end roller; a support arm pivotably mounted to pivot about an axis parallel to the axis of rotation of the first end roller; a deflection roller rotatably mounted to the support arm at a distance from the pivot of the support arm; the deflection roller having a rotational axis parallel to the axis of rotation of the first end roller, the roller resting upon the belt, configured to bias the belt against the first roller and second roller; and a position indicator measuring the distance between the axis of the deflection roller and a line drawn between the axis of rotation of the first end roller and the axis of rotation of the second end roller.Type: GrantFiled: June 18, 2018Date of Patent: July 28, 2020Assignee: Conveyor Dynamics, Inc.Inventor: Bradley Lawson
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Patent number: 10724257Abstract: A vertical raising safety rail. The safety rail includes lower linkage arm assemblies that are connected to a base and to a center rail assembly and configured to raise or lower the center rail assembly relative to the base when a rotational force is applied to the drive shaft. The safety rail also includes upper linkage arm assemblies that are connected to the center rail assembly and to a top rail. The upper linkage arm assemblies are connected to corresponding lower linkage assemblies and are configured to move the top rail relative to the center rail assembly. When the top rail is raised, one or more safety curtains are unfurled from a take-up roller inside the top rail to provide a safety curtain in the vertical plane of the safety rail.Type: GrantFiled: August 4, 2017Date of Patent: July 28, 2020Assignee: Control Dynamics, Inc.Inventor: Eric Moran
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Patent number: 10719085Abstract: A method of operating a robot includes assuming a resting pose of the robot on a surface. The robot includes an inverted pendulum body, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one arm connected to the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The method also includes moving from the resting pose to a sitting pose by moving the counter-balance body relative to the inverted pendulum body away from the ground surface to position a center of mass of the robot substantially over the drive wheel. The method also includes moving from the sitting pose to a standing pose by altering a length of the at least one leg.Type: GrantFiled: February 22, 2018Date of Patent: July 21, 2020Assignee: Boston Dynamics, Inc.Inventor: Alexander Douglas Perkins
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Patent number: 10706829Abstract: An apparatus, system, and method for a magnetically and releasably attachable trigger for an instrument is provided. Additionally, the trigger provides for an increased sensitivity of sound by being in direct physical contact with the surface on which it is attached.Type: GrantFiled: April 29, 2019Date of Patent: July 7, 2020Assignee: Rare Earth Dynamics, Inc.Inventor: Stephen Riley Suitor
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Patent number: 10704570Abstract: An example robot includes movable members, a hydraulic system including at least (i) hydraulic actuators configured to operate the movable members, and (ii) a source of hydraulic fluid, and a controller. The controller may be configured to: determine a task to be performed by the robot, where the task includes a plurality of phases; cause hydraulic fluid having a first pressure level to flow from the source to the hydraulic actuators for the robot to perform a first phase of the plurality of phases of the task; based on a second phase of the task, determine a second pressure level for the hydraulic fluid; and adjust, based on the second pressure level, operation of the hydraulic system before the robot begins the second phase of the task.Type: GrantFiled: October 31, 2018Date of Patent: July 7, 2020Assignee: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, Alex Yu Khripin, Alfred Anthony Rizzi
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Patent number: 10690805Abstract: An inspection system to measure the condition of at least a wall of a ground opening, the inspection system having a head unit for lowering into a borehole during a data collection phase wherein at least one set of test data is collected concerning one or more physical characteristics of the borehole during the data collection phase, the head unit having an internal measurement system and a sensor arrangement with a plurality of sensors facing radially outwardly of a head axis that is generally parallel to at least a portion of a borehole axis, the plurality of sensors allowing the head unit to be moved during the data collection phase without rotation about the head axis, the plurality of sensors at least partially producing the at least one set of test data collected during the data collection phase.Type: GrantFiled: May 9, 2019Date of Patent: June 23, 2020Assignee: Pile Dynamics, Inc.Inventors: George R. Piscsalko, Dean A. Cotton, Richard E. Berris, Jr., Tyler A. Piedimonte
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Patent number: 10688667Abstract: 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.Type: GrantFiled: February 21, 2018Date of Patent: June 23, 2020Assignee: Boston Dynamics, Inc.Inventors: Stephen Berard, Alex Yu Khripin, Benjamin Swilling