Patents by Inventor Yeuhi Abe
Yeuhi Abe 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: 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
-
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
-
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
-
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
-
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
-
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
-
Publication number: 20220410378Abstract: 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: June 25, 2021Publication date: December 29, 2022Inventors: Robin Deits, Scott Kuindersma, Matthew P. Kelly, Twan Koolen, Yeuhi Abe, Benjamin Stephens
-
Publication number: 20210347041Abstract: 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: ApplicationFiled: July 20, 2021Publication date: November 11, 2021Applicant: Boston Dynamics, Inc.Inventors: Marco da Silva, Benjamin Stephens, Alfred Anthony Rizzi, Yeuhi Abe
-
Patent number: 11084167Abstract: 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: August 22, 2018Date of Patent: August 10, 2021Assignee: Boston Dynamics, Inc.Inventors: Marco da Silva, Benjamin Stephens, Alfred Anthony Rizzi, Yeuhi Abe
-
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
-
Patent number: 10351189Abstract: 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: December 13, 2016Date of Patent: July 16, 2019Assignee: Boston Dynamics, Inc.Inventors: Kevin Blankespoor, Benjamin Stephens, Nicolas Hudson, Yeuhi Abe, Jennifer Barry
-
Patent number: 10093019Abstract: 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: August 8, 2016Date of Patent: October 9, 2018Assignee: Boston Dynamics, Inc.Inventors: Marco da Silva, Benjamin Stephens, Alfred Anthony Rizzi, Yeuhi Abe
-
Publication number: 20180162469Abstract: 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: December 13, 2016Publication date: June 14, 2018Inventors: Kevin Blankespoor, Benjamin Stephens, Nicolas Hudson, Yeuhi Abe, Jennifer Barry
-
Patent number: 9440353Abstract: 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: December 29, 2014Date of Patent: September 13, 2016Assignee: Google Inc.Inventors: Marco da Silva, Benjamin Stephens, Alfred Anthony Rizzi, Yeuhi Abe