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).
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Patent number: 11974023Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for the selection, provision and display of one or more digital components during display of content. Methods can include identifying a plurality of digital components that can be presented on the client device. A maximum number of digital components that can be presented in a slot of a content and the time duration of the slot is determined. For each digital component a score is generated based on the duration, position requirement and the number of times the digital component is available for provision within the slot is generated. A first set of digital component is selected based on the scores and provided to the client device.Type: GrantFiled: April 2, 2021Date of Patent: April 30, 2024Assignee: Google LLCInventors: Benjamin James Schaeffer, Matthew Stephen Ross
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Publication number: 20240118792Abstract: A method for configuring a system having a wearable optical unit is disclosed. The method includes powering on the system, and in response to the system being powered on, using one or more processors to control the system to: determine whether to cause the system to run a configuration workflow, and in response to determining to cause the system to run the configuration workflow, (a) control the system in connection with configuring an interpupillary distance (IPD) for a user of the system, (b) determine whether the IPD is configured for the user, and (c) in response to determining that the IPD is configured for the user, control the system in connection with configuring a focus of the optical unit.Type: ApplicationFiled: October 11, 2022Publication date: April 11, 2024Inventors: 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, Meghan Easley, Robin Porter, Jeremiah O'Leary, Keith Alsberg, Robert Samuel Clay
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Publication number: 20240091930Abstract: 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 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: ApplicationFiled: November 28, 2023Publication date: March 21, 2024Inventors: Marco da Silva, Benjamin Stephens, Alfred Anthony Rizzi, Yeuhi Abe
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Patent number: 11934578Abstract: The disclosed haptic feedback system may include an actuator, a supply valve coupled to the actuator, an exhaust valve, and a fluidic mass controller communicatively coupled to the supply valve and the exhaust valve. The fluidic mass controller may (1) place the exhaust valve in a state that prevents a fluid from escaping the actuator, (2) activate the supply valve to fill the actuator with an amount of the fluid, (3) determine that the actuator has filled with the amount of the fluid, and then in response to that determination, (4) deactivate the supply valve to trap the amount of the fluid in the actuator. Various other apparatuses, methods, and systems are also disclosed.Type: GrantFiled: May 6, 2021Date of Patent: March 19, 2024Assignee: Meta Platforms Technologies, LLCInventors: Priyanshu Agarwal, Nicholas Colonnese, Heng Xu, Benjamin Stephens-Fripp, Daniele Piazza
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Patent number: 11920886Abstract: A weapon is capable of firing cased telescoped (CT) ammunition rounds. The weapon includes a barrel, a chamber member that defines a chamber configured to hold a CT round for firing from the weapon, a non-rotating carrier body, and linkage. The linkage is constructed and arranged to move the chamber member (i) from a firing position in which the chamber member is aligned with the barrel for firing the CT round to an ejection/loading position in which the chamber member is not aligned with the barrel for ejecting a spent CT round and receiving a next CT round in response to the non-rotating carrier body moving away from the barrel, and (ii) from the ejection/loading position to the firing position in response to the non-rotating carrier body moving toward the barrel.Type: GrantFiled: February 9, 2022Date of Patent: March 5, 2024Assignee: Textron Systems CorporationInventors: Joshua Stephen Ruck, Brandon Scott Recchia, Bradford Timothy Jones, Benjamin Tyler Cole, Petro Romanovych Khoma, Mark Timothy Fellows, Madeline Claire Spurlock
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Publication number: 20240051122Abstract: 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: ApplicationFiled: October 25, 2023Publication date: February 15, 2024Applicant: Boston Dynamics, Inc.Inventors: Robin Deits, Scott Kuindersma, Matthew P. Kelly, Twan Koolen, Yeuhi Abe, Benjamin Stephens
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Patent number: 11865715Abstract: 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: GrantFiled: July 20, 2021Date of Patent: January 9, 2024Assignee: Boston Dynamics, Inc.Inventors: Marco da Silva, Benjamin Stephens, Alfred Anthony Rizzi, Yeuhi Abe
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Patent number: 11833680Abstract: 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: GrantFiled: June 25, 2021Date of Patent: December 5, 2023Assignee: Boston Dynamics, Inc.Inventors: Robin Deits, Scott Kuindersma, Matthew P. Kelly, Twan Koolen, Yeuhi Abe, Benjamin Stephens
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Publication number: 20230347524Abstract: 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: ApplicationFiled: June 30, 2023Publication date: November 2, 2023Inventors: Gabriel Nelson, Benjamin Stephens
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Publication number: 20230333375Abstract: 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: ApplicationFiled: August 15, 2022Publication date: October 19, 2023Inventors: 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
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Publication number: 20230322797Abstract: 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: ApplicationFiled: April 6, 2023Publication date: October 12, 2023Inventors: 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
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Publication number: 20230322315Abstract: 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: April 12, 2023Publication date: October 12, 2023Inventor: Benjamin Stephens
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Publication number: 20230303193Abstract: 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: April 26, 2023Publication date: September 28, 2023Inventors: Kevin Blankespoor, Benjamin Stephens, Nicolas Hudson, Yeuhi Abe, Jennifer Barry
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Publication number: 20230264358Abstract: 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: April 12, 2023Publication date: August 24, 2023Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
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Patent number: 11731277Abstract: 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: June 7, 2021Date of Patent: August 22, 2023Assignee: Boston Dynamics, Inc.Inventors: Gabriel Nelson, Benjamin Stephens
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Patent number: 11667343Abstract: 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: GrantFiled: June 6, 2019Date of Patent: June 6, 2023Assignee: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Benjamin Stephens, Nicolas Hudson, Yeuhi Abe, Jennifer Barry
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Patent number: 11654569Abstract: 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: December 22, 2020Date of Patent: May 23, 2023Assignee: BOSTON DYNAMICS, INC.Inventors: Kevin Blankespoor, Benjamin Stephens, Marco da Silva
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Patent number: 11654985Abstract: 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: GrantFiled: January 26, 2021Date of Patent: May 23, 2023Assignee: BOSTON DYNAMICS, INC.Inventor: Benjamin Stephens
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Publication number: 20230145112Abstract: 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: ApplicationFiled: March 29, 2021Publication date: May 11, 2023Applicant: BAE SYSTEMS PLCInventors: Simon BISHOP, James Martin MILLER, Martin Jon CURWEN, Benjamin Stephen ANDREWS, Christopher PRENTICE
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Publication number: 20230124705Abstract: 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: ApplicationFiled: September 30, 2022Publication date: April 20, 2023Inventors: Sibao CHEN, Christopher G. F. COOPER, Baudouin GERARD, Joshua Courtney HORAN, Jason T. KROPP, Benjamin Stephen LANE, David James PEARSON