Patents Assigned to Dynamics Inc.
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Patent number: 10444227Abstract: In some aspects, cultures of neurons derived from human induced pluripotent stem cells (iPS cells) that exhibit synchronous firing of neural networks are provided. In some embodiments, neuronal activity of the cultures may be detected or measured using a multi-electrode array.Type: GrantFiled: August 19, 2015Date of Patent: October 15, 2019Assignee: FUJIFILM Cellular Dynamics, Inc.Inventors: Kile P. Mangan, Coby B. Carlson
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Publication number: 20190312323Abstract: An example system is disclosed for thermal management of batteries. The system may include a cell bank that includes first and second cell frame sections, a heat bus, and thermal interface material. The first and second cell frame sections may define opposite surfaces of the cell bank. Each cell frame section may include recesses to align battery cells for welding and provided conductive connections between the cells to create a string of cells with a combined power output. Each recess may include a divider between the battery cells to preload the cells against a thermal junction during assembly. The heat bus may be provided between the cell frame sections. The heat bus may include heat pipes that extend between the battery cells and across the cell frame sections. The thermal interface material may be positioned to transfer heat from the cells to the heat pipes at their thermal junction.Type: ApplicationFiled: June 21, 2019Publication date: October 10, 2019Applicant: Boston Dynamics, Inc.Inventors: Brian Todd Dellon, John Aaron Saunders
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Patent number: 10434651Abstract: A control system of a robotic device may receive sensor data indicating at least one deviation from a nominal operating parameter of the robotic device, where the robotic device includes articulable legs that include respective actuators, and where one or more strokes of the actuators cause the articulable legs to articulate. Based on the received sensor data, the control system may determine that the at least one deviation exceeds a pre-determined threshold. In response to determining that the at least one deviation exceeds the pre-determined threshold, the control system may provide instructions for centering the one or more strokes at approximately a mid-point of extension of the actuators, and reducing a stroke length of the one or more strokes of the actuators.Type: GrantFiled: January 13, 2018Date of Patent: October 8, 2019Assignee: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Alexander Douglas Perkins
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Publication number: 20190283822Abstract: 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.Type: ApplicationFiled: June 6, 2019Publication date: September 19, 2019Applicant: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Benjamin Stephens, Nicolas Hudson, Yeuhi Abe, Jennifer Barry
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Patent number: 10406690Abstract: 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: September 25, 2017Date of Patent: September 10, 2019Assignee: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
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Patent number: 10408058Abstract: A connecting rod and piston assembly for use in an oil-less pneumatic motor, wherein said connecting rod and piston do not require a wrist pin for connecting said rod to said piston; said connecting rod having at least two ends, connected to each other by a connecting member of a predetermined length; said at least two ends being a piston end and a crankshaft end; said piston end being distant said crankshaft end; said piston having a cylinder end and a connecting rod piston end receiving end, wherein said connecting rod piston end receiving end matingly engages said connecting rod piston end; said piston end is substantially ball shaped and said crankshaft end is shaped for engagement with a crankshaft; said connecting rod piston end receiving end is a socket shape to matingly receive said ball shaped piston end.Type: GrantFiled: December 4, 2015Date of Patent: September 10, 2019Assignee: Circle Dynamics Inc.Inventor: James Laurence Doyle
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Publication number: 20190271361Abstract: 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: May 20, 2019Publication date: September 5, 2019Applicant: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, Adam Young
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Patent number: 10399621Abstract: 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: GrantFiled: March 18, 2019Date of Patent: September 3, 2019Assignee: Boston Dynamics, Inc.Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
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Patent number: 10399219Abstract: An example device may include a rounded outer incline ramp and a rounded inner incline ramp surrounding a central axis. The rounded inner incline ramp and the rounded outer incline ramp may be inversely aligned relative to the central axis. The device may also include a piston carrier oriented in a direction parallel to the central axis. The piston carrier may include a first piston including a first roller positioned on the two ramps at a first point, where the first piston is configured to act on the two ramps in a direction parallel to the central axis. The piston carrier may also include a second piston including a second roller positioned on the two ramps at a second point opposite the first point, where the second piston is configured to act on the two ramps in a direction parallel to the central axis.Type: GrantFiled: December 21, 2016Date of Patent: September 3, 2019Assignee: Boston Dynamics, Inc.Inventor: Brian Dellon
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Publication number: 20190255701Abstract: 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: ApplicationFiled: February 22, 2018Publication date: August 22, 2019Applicant: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, John Aaron Saunders, Steven D. Potter, Vadim Chernyak, Shervin Talebinejad
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Publication number: 20190255716Abstract: A method of maneuvering a robot includes driving the robot across a surface and turning the robot by shifting a center of mass of the robot toward a turn direction, thereby leaning the robot into the turning direction. 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 leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The inverted pendulum body has first and second end portions and defines a forward drive direction. The method also includes turning the robot by at least one of moving the counter-balance body relative to the inverted pendulum body or altering a height of the at least one leg with respect to the surface.Type: ApplicationFiled: February 22, 2018Publication date: August 22, 2019Applicant: Boston Dynamics, Inc.Inventors: Neil Neville, Shervin Talebinejad
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Publication number: 20190258274Abstract: 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: ApplicationFiled: February 22, 2018Publication date: August 22, 2019Applicant: Boston Dynamics, Inc.Inventor: Alexander Douglas Perkins
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Publication number: 20190258275Abstract: A robot includes an inverted pendulum body having first and second end portions, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg having first and second ends, and a drive wheel rotatably coupled to the second end of the at least one leg. The first end of the at least one leg is prismatically coupled to the second end portion of the inverted pendulum body.Type: ApplicationFiled: February 22, 2018Publication date: August 22, 2019Applicant: Boston Dynamics, Inc.Inventors: John Aaron Saunders, Kevin Blankespoor, Steven D. Potter
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Patent number: 10384043Abstract: Apparatus and methods are described including an implantable device shaped to define (a) at least two artery-contact regions, the artery-contact regions comprising struts that are configured to stretch an arterial wall by applying pressure to the arterial wall, and (b) at least two crimping regions that comprise locking mechanisms configured to prevent the crimping regions from becoming crimped due to pressure from the wall of the artery on the artery-contact regions. The crimping regions are configured to be crimped during insertion of the device, via a catheter, by the locking mechanisms being unlocked during insertion of the device. Other embodiments are also described.Type: GrantFiled: July 28, 2015Date of Patent: August 20, 2019Assignee: Vascular Dynamics, Inc.Inventors: Yossi Gross, Itzik Avneri, Ori Weisberg, Moshe Eshkol
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Publication number: 20190248021Abstract: An example robot includes: a motor disposed within a housing at a joint configured to control motion of a member of a robot; a controller including one or more printed circuit boards (PCBs) disposed within the housing and including a plurality of field-effect transistors (FETs) disposed on a surface of a PCB of the one or more PCBs facing the motor; a rotary position sensor mounted on the controller; a shaft coupled to a rotor of the motor and extending therefrom to the controller; and a magnet mounted within the shaft at an end of the shaft facing the controller.Type: ApplicationFiled: April 23, 2019Publication date: August 15, 2019Applicant: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, Kyle Rogers, Adam Young
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Publication number: 20190242482Abstract: An example valve includes: a sleeve having a plurality of sleeve openings; a first conduit configured to be in hydraulic communication with a first chamber, where a first pressure sensor is disposed in the first conduit and configured to measure a pressure level of fluid in the first chamber; a second conduit configured to be in hydraulic communication with a second chamber, where a second pressure sensor is disposed in the second conduit and configured to measure a pressure level of fluid in the second chamber; a spool rotatable within the sleeve, wherein the spool includes a plurality of spool openings respectively corresponding to the plurality of sleeve openings; a rotary actuator coupled to the spool and configured to rotate the spool within the sleeve in clockwise and counter-clockwise directions; and a controller configured to cause the spool to rotate to one of a plurality of rotary positions.Type: ApplicationFiled: April 15, 2019Publication date: August 8, 2019Applicant: Boston Dynamics, Inc.Inventors: John Aaron Saunders, Malik Hansen, Jan Komsta
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Patent number: 10374272Abstract: An example system is disclosed for thermal management of batteries. The system may include a cell bank that includes first and second cell frame sections, a heat bus, and thermal interface material. The first and second cell frame sections may define opposite surfaces of the cell bank. Each cell frame section may include recesses to align battery cells for welding and provided conductive connections between the cells to create a string of cells with a combined power output. Each recess may include a divider between the battery cells to preload the cells against a thermal junction during assembly. The heat bus may be provided between the cell frame sections. The heat bus may include heat pipes that extend between the battery cells and across the cell frame sections. The thermal interface material may be positioned to transfer heat from the cells to the heat pipes at their thermal junction.Type: GrantFiled: November 4, 2015Date of Patent: August 6, 2019Assignee: Boston Dynamics, Inc.Inventors: Brian Todd Dellon, John Aaron Saunders
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Patent number: 10368922Abstract: A facet joint replacement device includes an enclosing element including an enclosing body and an inferior attachment member. The enclosing body includes an inner cavity defined by an interior surface of the enclosing body, wherein a portion of the interior surface of the enclosing body forms a superior articulating surface. The facet joint replacement device also includes an inferior articulating element including an articulating body and a superior attachment member. The inferior articulating body is positioned within the inner cavity of the enclosing body of the enclosing element and is configured to move within the inner cavity of the enclosing body of the enclosing element. The inferior articulating body includes an inferior articulating surface. The movement of the articulating body of the inferior articulating element is constrained in at least one direction within the inner cavity of the enclosing body of the enclosing element.Type: GrantFiled: December 8, 2017Date of Patent: August 6, 2019Assignee: Facet Dynamics, Inc.Inventors: Christopher D. Sturm, Shawn Van Dahm
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Publication number: 20190226503Abstract: 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: April 1, 2019Publication date: July 25, 2019Applicant: Boston Dynamics, Inc.Inventors: Michael Murphy, John Aaron Saunders, Steven D. Potter
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Patent number: 10357949Abstract: There is disclosed a laminated, nonwoven fabric and a process for producing such a laminated, nonwoven fabric having desirable fluid holding and fluid release characteristics. The process provides that two sheets of meltblown fiber fabric are produced on forming wire assemblies, cooled at a cooling area, and are then laminated on opposite sides of a sheet of spunbonded fibers using to form the laminated, nonwoven fabric.Type: GrantFiled: September 20, 2016Date of Patent: July 23, 2019Assignees: Rockline Industries, Inc., Fiber Dynamics, Inc.Inventors: Joseph D. Wahlquist, Michael Edward Huss, Patrick T. Heery, John P. Field