Patents by Inventor Benjamin Stephens

Benjamin Stephens 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).

  • Publication number: 20240051122
    Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
    Type: Application
    Filed: October 25, 2023
    Publication date: February 15, 2024
    Applicant: Boston Dynamics, Inc.
    Inventors: Robin Deits, Scott Kuindersma, Matthew P. Kelly, Twan Koolen, Yeuhi Abe, Benjamin Stephens
  • Patent number: 11865715
    Abstract: 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: Grant
    Filed: July 20, 2021
    Date of Patent: January 9, 2024
    Assignee: Boston Dynamics, Inc.
    Inventors: Marco da Silva, Benjamin Stephens, Alfred Anthony Rizzi, Yeuhi Abe
  • Patent number: 11833680
    Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
    Type: Grant
    Filed: June 25, 2021
    Date of Patent: December 5, 2023
    Assignee: Boston Dynamics, Inc.
    Inventors: Robin Deits, Scott Kuindersma, Matthew P. Kelly, Twan Koolen, Yeuhi Abe, Benjamin Stephens
  • Publication number: 20230347524
    Abstract: 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: Application
    Filed: June 30, 2023
    Publication date: November 2, 2023
    Inventors: Gabriel Nelson, Benjamin Stephens
  • Publication number: 20230333375
    Abstract: The present application discloses a system and device for displaying content. The system includes an optical unit that is wearable. The optical unit includes a magnifying lens, a front light, and a display. The front light illuminates the display from the front of the display to be observable by a user via the magnifying lens.
    Type: Application
    Filed: August 15, 2022
    Publication date: October 19, 2023
    Inventors: Trae Benjamin Stephens, Benjamin Eli Nelson Chelf, Nicholas Cory Johnson, John Aaron Boiles, Nicholas Grant Lewis, Kevin Robert McKinney, Steven David Oliver, Tun Yuen Yeung, Keith Alsberg, Jeremiah O'Leary
  • Publication number: 20230322797
    Abstract: Provided herein are solid forms comprising a compound of formula (I), or a stereoisomer, or a mixture of stereoisomers thereof, or a pharmaceutically acceptable salt thereof. Also provided herein are methods of synthesizing a compound of formula (I), pharmaceutical compositions comprising the same, and methods of treating, preventing, and managing various disorders using the compositions provided herein.
    Type: Application
    Filed: April 6, 2023
    Publication date: October 12, 2023
    Inventors: Christopher G. F. COOPER, Baudouin GERARD, Joshua Courtney HORAN, Jason T. KROPP, Benjamin Stephen LANE, David James PEARSON, Lauren Ashley MACEACHERN, Yameng HE, Mandeep SINGH, Arkesh NARAYANAPPA
  • Publication number: 20230322315
    Abstract: 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: Application
    Filed: April 12, 2023
    Publication date: October 12, 2023
    Inventor: Benjamin Stephens
  • Publication number: 20230303193
    Abstract: 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: Application
    Filed: April 26, 2023
    Publication date: September 28, 2023
    Inventors: Kevin Blankespoor, Benjamin Stephens, Nicolas Hudson, Yeuhi Abe, Jennifer Barry
  • Publication number: 20230264358
    Abstract: 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: Application
    Filed: April 12, 2023
    Publication date: August 24, 2023
    Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
  • Patent number: 11731277
    Abstract: 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: Grant
    Filed: June 7, 2021
    Date of Patent: August 22, 2023
    Assignee: Boston Dynamics, Inc.
    Inventors: Gabriel Nelson, Benjamin Stephens
  • Patent number: 11667343
    Abstract: 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: Grant
    Filed: June 6, 2019
    Date of Patent: June 6, 2023
    Assignee: Boston Dynamics, Inc.
    Inventors: Kevin Blankespoor, Benjamin Stephens, Nicolas Hudson, Yeuhi Abe, Jennifer Barry
  • Patent number: 11654985
    Abstract: 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: Grant
    Filed: January 26, 2021
    Date of Patent: May 23, 2023
    Assignee: BOSTON DYNAMICS, INC.
    Inventor: Benjamin Stephens
  • Patent number: 11654569
    Abstract: 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: Grant
    Filed: December 22, 2020
    Date of Patent: May 23, 2023
    Assignee: BOSTON DYNAMICS, INC.
    Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
  • Publication number: 20230145112
    Abstract: The present disclosure provides an aircraft comprising: a fuselage; and a payload module coupled to the fuselage, the payload module comprising one or more data storage devices. The payload module is configured to be decoupled from the fuselage during flight upon receipt of a de-coupling input.
    Type: Application
    Filed: March 29, 2021
    Publication date: May 11, 2023
    Applicant: BAE SYSTEMS PLC
    Inventors: Simon BISHOP, James Martin MILLER, Martin Jon CURWEN, Benjamin Stephen ANDREWS, Christopher PRENTICE
  • Publication number: 20230124705
    Abstract: Provided herein are solid forms comprising a compound of formula (I), or a stereoisomer, or a mixture of stereoisomers thereof, or a pharmaceutically acceptable salt thereof. Also provided herein are methods of synthesizing a compound of formula (I), pharmaceutical compositions comprising the same, and methods of treating, preventing, and managing various disorders using the compositions provided herein.
    Type: Application
    Filed: September 30, 2022
    Publication date: April 20, 2023
    Inventors: Sibao CHEN, Christopher G. F. COOPER, Baudouin GERARD, Joshua Courtney HORAN, Jason T. KROPP, Benjamin Stephen LANE, David James PEARSON
  • Publication number: 20220410378
    Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
    Type: Application
    Filed: June 25, 2021
    Publication date: December 29, 2022
    Inventors: Robin Deits, Scott Kuindersma, Matthew P. Kelly, Twan Koolen, Yeuhi Abe, Benjamin Stephens
  • Patent number: 11287548
    Abstract: Analysis and display of source-to-sink information according to some aspects includes grouping geochronological data associated with a sediment sample into optimized subpopulations within a reference population and target populations, and producing Gaussian functions for the reference population and the target populations using the subpopulations as a priori constraints. The Gaussian functions describe a distribution of zircons. The subpopulations within the reference population and the target populations are compared based on at least one statistical attribute from the Gaussian functions to identify areas of sediment provenance, and the areas of sediment provenance are displayed in various ways, for example, on a paleographic map as of an age of deposition of the sediment sample. A sink-to-sink analysis can also be performed to identify dissimilarities between samples.
    Type: Grant
    Filed: March 19, 2018
    Date of Patent: March 29, 2022
    Assignee: Landmark Graphics Corporation
    Inventors: Daniel Stanton, Benjamin Stephen Saunders, Graeme Richard Nicoll, Graham Baines
  • Patent number: 11225294
    Abstract: 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: Grant
    Filed: February 21, 2019
    Date of Patent: January 18, 2022
    Assignee: Boston Dynamics, Inc.
    Inventor: Benjamin Stephens
  • Patent number: 11215734
    Abstract: Analysis and display of source-to-sink information according to some aspects includes grouping target geochronological data and reference geochronological data into distinct population groups representing a reference population and target populations and characterizing subpopulations within the reference population and the target populations according a statistical attribute or statistical attributes. Subpopulations are compared within the reference population and the target populations based on the statistical attribute or attributes to determine correlations between the reference population and the target populations, and the results can be displayed in many different ways. As one example, results can be displayed using a present day geographic map as well as using a geodynamic plate tectonic model to show data points and their paleogeographic locations for the relevant geological time frame of investigation.
    Type: Grant
    Filed: March 19, 2018
    Date of Patent: January 4, 2022
    Assignee: Landmark Graphics Corporation
    Inventors: Benjamin Stephen Saunders, Graeme Richard Nicoll, Graham Baines
  • Publication number: 20210347041
    Abstract: 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: Application
    Filed: July 20, 2021
    Publication date: November 11, 2021
    Applicant: Boston Dynamics, Inc.
    Inventors: Marco da Silva, Benjamin Stephens, Alfred Anthony Rizzi, Yeuhi Abe