Patents by Inventor Alex Perkins
Alex Perkins 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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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: 11292375Abstract: A headrest assembly includes a headrest bun having an interior portion. A support armature includes a portion thereof disposed within the interior portion of the headrest bun. A support member includes a lattice matrix comprised of a plurality of interconnected links. The support member is supported within the interior portion of the headrest bun by the support armature. A receptacle is operably coupled to the lattice matrix of the support member within the interior portion of the headrest bun and includes an interior cavity. A weighted insert is removeably received within the interior cavity of the receptacle.Type: GrantFiled: November 10, 2020Date of Patent: April 5, 2022Assignee: Ford Global Technologies, LLCInventors: Vishal Vinayak Nageshkar, Sangram Tamhankar, Chaitanya Nimmagadda, John Edward Huber, Siddharthan Selvasekar, Patrick Maloney, Janice Lisa Tardiff, Alex Perkins
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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: 20210256287Abstract: 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: ApplicationFiled: May 3, 2021Publication date: August 19, 2021Applicant: Boston Dynamics, Inc.Inventors: Alex Perkins, Charles DuHadway, Peter Anderson-Sprecher
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Publication number: 20210237634Abstract: A seat assembly includes a cushioned component having a lattice matrix, wherein the lattice matrix includes a first portion defined by a first pattern of interconnected links which defines a first set of cells, and a second portion defined by a second pattern of interconnected links which defines a second set of cells. The first portion of the lattice matrix includes a density profile that is different than a density profile of the second portion of the lattice matrix. An air bladder is disposed within a core portion of the lattice matrix and includes a non-porous outer casing surrounding an interior cavity. The outer casing of the air bladder and the lattice matrix are integrated components comprised of a common material to define a monolithic structure created using an additive manufacturing process.Type: ApplicationFiled: February 4, 2020Publication date: August 5, 2021Applicant: Ford Global Technologies, LLCInventors: Patrick Maloney, Alex Perkins, Vishal Vinayak Nageshkar, Sangram Tamhankar, Kevin VanNieulande, Victoria Leigh Schein, Christian J. Hosbach
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Publication number: 20210178976Abstract: A seat assembly includes a seatback having a cushioned component pivotally coupled to the seatback and operable between deployed and retracted positions. The cushioned component includes an interior cavity. A rack assembly is positioned within the interior cavity and includes a forward-most rack with a first receiving area. The rack assembly further includes a rearward-most rack having a second receiving area. A first cartridge assembly is removeably received in the first receiving area of the rack assembly. A second cartridge assembly is removeably received in the second receiving area of the rack assembly. The rack assembly may also include one or more intermediate rack assemblies positioned between the forward-most and rearward-most rack assemblies for supporting other intermediate cartridge assemblies. Each cartridge assembly includes a different density profile for providing variated comfort settings to the seatback of the seat assembly.Type: ApplicationFiled: December 16, 2019Publication date: June 17, 2021Applicant: Ford Global Technologies, LLCInventors: Vishal Vinayak Nageshkar, Sangram Tamhankar, Christian J. Hosbach, Patrick Maloney, Alex Perkins, Victoria Leigh Schein, Kevin VanNieulande
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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: 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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Patent number: 10953775Abstract: A seat assembly includes a seat portion and a seatback. A cushioned component is disposed in either the seat portion or the seatback. The cushioned component includes a porous lattice matrix and non-porous first and second walls that are disposed within and surrounded by the lattice matrix. The first and second walls are spaced-apart from one another and disposed at opposed angles to define a channel therebetween. The lattice matrix and the first and second walls are deformable structures for supporting a seat occupant while still being able to channel air through the cushioned component. The lattice matrix and the first and second walls are contemplated to be integrally formed components defining a monolithic structure. The lattice matrix may include multiple sets of spaced-apart walls for channeling air through different portions of the cushioned component.Type: GrantFiled: February 4, 2020Date of Patent: March 23, 2021Assignee: Ford Global Technologies, LLCInventors: Patrick Maloney, Victoria Leigh Schein, Alex Perkins, Vishal Vinayak Nageshkar, Sangram Tamhankar, Christian J. Hosbach
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Patent number: 10851810Abstract: 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.Type: GrantFiled: August 26, 2019Date of Patent: December 1, 2020Assignee: Boston Dynamics, Inc.Inventors: Alex Perkins, Kevin Blankespoor, Alfred Rizzi
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Publication number: 20200306998Abstract: A method for a multi-body controller receives steering commands for a robot to perform a given task. The robot includes an inverted pendulum body, a plurality of joints, an arm coupled to the inverted pendulum body, a leg coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the leg. With the steering commands, the method generates a wheel torque and a wheel axle force to perform the given task. The method includes receiving movement constraints for the robot and manipulation inputs configured to manipulate the arm to perform the given task. For each joint, the method generates a corresponding joint torque having an angular momentum where the joint torque satisfies the movement constraints based on the manipulation inputs, the wheel torque, and the wheel axle force. The method further includes controlling the robot to perform the given task using the joint torques.Type: ApplicationFiled: March 25, 2019Publication date: October 1, 2020Applicant: Boston Dynamics, Inc.Inventors: Shervin Talebi, Alex Perkins, Kevin Blankespoor
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Publication number: 20200302207Abstract: 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: ApplicationFiled: March 19, 2019Publication date: September 24, 2020Applicant: Boston Dynamics, Inc.Inventors: Alex Perkins, Charles DuHadway, Peter Anderson-Sprecher
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Publication number: 20190376533Abstract: 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.Type: ApplicationFiled: August 26, 2019Publication date: December 12, 2019Applicant: Boston Dynamics, Inc.Inventors: Alex Perkins, Kevin Blankespoor, Alfred Rizzi
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Patent number: 10300969Abstract: 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: February 27, 2017Date of Patent: May 28, 2019Assignee: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Marco da Silva, Alex Perkins
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Patent number: 9926025Abstract: An example method may include i) determining, by a robot having at least one foot, a representation of a coefficient of friction between the foot and a ground surface; ii) determining, by the robot, a representation of a gradient of the ground surface; iii) based on the determined representations of the coefficient of friction and the gradient, determining a threshold orientation for a target ground reaction force on the foot of the robot during a step; iv) determining the target ground reaction force, where the target ground reaction force comprises a magnitude and an orientation; v) determining an adjusted ground reaction force by adjusting the orientation of the target ground reaction force to be within the determined threshold orientation; and vi) causing the foot of the robot to apply a force on the ground surface equal to and opposing the adjusted ground reaction force during the step.Type: GrantFiled: April 21, 2017Date of Patent: March 27, 2018Assignee: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Marco da Silva, Alex Perkins
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Patent number: 9663165Abstract: A method may include i) determining, by a robot having at least one foot, a representation of a coefficient of friction between the foot and a ground surface; ii) determining, by the robot, a representation of a gradient of the ground surface; iii) based on the determined representations of the coefficient of friction and the gradient, determining a threshold orientation for a target ground reaction force on the foot of the robot during a step; iv) determining the target ground reaction force, where the target ground reaction force comprises a magnitude and an orientation; v) determining an adjusted ground reaction force by adjusting the orientation of the target ground reaction force to be within the determined threshold orientation; and vi) causing the foot of the robot to apply a force on the ground surface equal to and opposing the adjusted ground reaction force during the step.Type: GrantFiled: June 3, 2016Date of Patent: May 30, 2017Assignee: Google Inc.Inventors: Kevin Blankespoor, Marco da Silva, Alex Perkins
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Patent number: 9618937Abstract: 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: August 25, 2014Date of Patent: April 11, 2017Assignee: Google Inc.Inventors: Kevin Blankespoor, Alex Perkins, Marco da Silva
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Publication number: 20170089365Abstract: 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.Type: ApplicationFiled: December 9, 2016Publication date: March 30, 2017Inventors: Alex Perkins, Kevin Blankespoor, Alfred Rizzi
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Patent number: 9546672Abstract: 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.Type: GrantFiled: September 18, 2014Date of Patent: January 17, 2017Assignee: Google Inc.Inventors: Alex Perkins, Kevin Blankespoor, Alfred Rizzi
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Patent number: 9387896Abstract: An example method may include i) determining, by a robot having at least one foot, a representation of a coefficient of friction between the foot and a ground surface; ii) determining, by the robot, a representation of a gradient of the ground surface; iii) based on the determined representations of the coefficient of friction and the gradient, determining a threshold orientation for a target ground reaction force on the foot of the robot during a step; iv) determining the target ground reaction force, where the target ground reaction force comprises a magnitude and an orientation; v) determining an adjusted ground reaction force by adjusting the orientation of the target ground reaction force to be within the determined threshold orientation; and vi) causing the foot of the robot to apply a force on the ground surface equal to and opposing the adjusted ground reaction force during the step.Type: GrantFiled: August 25, 2014Date of Patent: July 12, 2016Assignee: Google Inc.Inventors: Kevin Blankespoor, Alex Perkins, Marco da Silva