Patents by Inventor Douglas Perkins
Douglas 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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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: 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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Patent number: 9895804Abstract: 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: September 10, 2014Date of Patent: February 20, 2018Inventors: Alexander Douglas Perkins, Kevin Blankespoor
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Patent number: 9878751Abstract: An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.Type: GrantFiled: October 8, 2015Date of Patent: January 30, 2018Assignee: Boston Dynamics, Inc.Inventors: Christopher Everett Thorne, John Aaron Saunders, Marco da Silva, Thomas H. Miller, Alexander Douglas Perkins
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Patent number: 9833899Abstract: An example implementation includes determining a force allocation for at least one foot of a legged robotic device, where the legged robotic device includes two feet coupled to two legs extending from a body of the legged robotic device. The implementation also includes determining a change in mass distribution of the legged robotic device, and based on the determined change in mass distribution, determining a force and a torque on the body of the legged robotic device with respect to a ground surface. The implementation also includes updating the determined force allocation for the at least one foot of the two feet based on the determined force and torque. The implementation also includes causing the at least one foot to act on the ground surface based on the updated force allocation.Type: GrantFiled: April 2, 2015Date of Patent: December 5, 2017Assignee: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Alexander Douglas Perkins, Marco da Silva, Shervin Talebinejad
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Patent number: 9662791Abstract: Example systems and methods for self-righting a robotic device are provided. An example method may include determining an orientation of a bottom surface of a legged robotic device with respect to a ground surface. The method may also include determining that the robotic device is in an unstable position, based on the determined orientation. The method may also include performing a first action configured to return the robotic device to a stable position. The method may also include performing a first action configured to return the legged robotic device to the stable position. The method may also include performing a second action configured to return the legged robotic device to the stable position, if the legged robotic device is in the unstable position after the first action.Type: GrantFiled: January 29, 2016Date of Patent: May 30, 2017Assignee: Google Inc.Inventors: Alexander Douglas Perkins, Matthew Malchano, Shervin Talebinejad
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Patent number: 9594377Abstract: An example implementation includes (i) receiving sensor data that indicates topographical features of an environment in which a robotic device is operating, (ii) processing the sensor data into a topographical map that includes a two-dimensional matrix of discrete cells, the discrete cells indicating sample heights of respective portions of the environment, (iii) determining, for a first foot of the robotic device, a first step path extending from a first lift-off location to a first touch-down location, (iv) identifying, within the topographical map, a first scan patch of cells that encompass the first step path, (v) determining a first high point among the first scan patch of cells; and (vi) during the first step, directing the robotic device to lift the first foot to a first swing height that is higher than the determined first high point.Type: GrantFiled: May 12, 2015Date of Patent: March 14, 2017Assignee: Google Inc.Inventors: Alexander Douglas Perkins, Kevin Blankespoor
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Patent number: 9308648Abstract: Example systems and methods for self-righting a robotic device are provided. An example method may include determining an orientation of a bottom surface of a legged robotic device with respect to a ground surface. The method may also include determining that the robotic device is in an unstable position, based on the determined orientation. The method may also include performing a first action configured to return the robotic device to a stable position. The method may also include performing a first action configured to return the legged robotic device to the stable position. The method may also include performing a second action configured to return the legged robotic device to the stable position, if the legged robotic device is in the unstable position after the first action.Type: GrantFiled: July 24, 2014Date of Patent: April 12, 2016Assignee: Google Inc.Inventors: Alexander Douglas Perkins, Matthew Malchano, Shervin Talebinejad
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Publication number: 20160023354Abstract: Example systems and methods for self-righting a robotic device are provided. An example method may include determining an orientation of a bottom surface of a legged robotic device with respect to a ground surface. The method may also include determining that the robotic device is in an unstable position, based on the determined orientation. The method may also include performing a first action configured to return the robotic device to a stable position. The method may also include performing a first action configured to return the legged robotic device to the stable position. The method may also include performing a second action configured to return the legged robotic device to the stable position, if the legged robotic device is in the unstable position after the first action.Type: ApplicationFiled: July 24, 2014Publication date: January 28, 2016Inventors: Alexander Douglas Perkins, Matthew Malchano, Shervin Talebinejad
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Patent number: 8239575Abstract: The disclosed subject matter describes a method, system, apparatus, and program for interfacing multiple communication systems, comprising the following steps. The interface receives information from the client, followed by determination of the format of said information. The disclosed subject matter identifies the third party to receive the information and transforms the originally received information into a format compatible for the third party. The server then sends the converted information to the intended third party. The associated process allows communication between the client and third party in both directions.Type: GrantFiled: April 26, 2007Date of Patent: August 7, 2012Assignee: AvFinity, LLCInventor: Stephen Douglas Perkins
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Publication number: 20060142558Abstract: The present invention provides nucleic acid sequences encoding novel human proteins. These novel nucleic acids are useful for constructing the claimed DNA vectors and host cells of the invention and for preparing the claimed nucleic acids, recombinant proteins and antibodies that are useful in the claimed methods and medical uses.Type: ApplicationFiled: July 23, 2003Publication date: June 29, 2006Inventors: Songqing Na, Douglas Perkins