Patents by Inventor Zachary John Jackowski
Zachary John Jackowski 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: 20240093766Abstract: A robot leg assembly including a hip joint and an upper leg member. A proximal end portion of the upper leg member rotatably coupled to the hip joint. The robot leg assembly including a knee joint rotatably coupled to a distal end portion of the upper leg member, a lower leg member rotatably coupled to the knee joint, a linear actuator disposed on the upper leg member and defining a motion axis, and a motor coupled to the linear actuator and a linkage coupled to the translation stage and to the lower leg member. The linear actuator includes a translation stage moveable along the motion axis to translate rotational motion of the motor to linear motion of the translation stage along the motion axis, which moves the linkage to rotate the lower leg member relative to the upper leg member at the knee joint.Type: ApplicationFiled: July 28, 2023Publication date: March 21, 2024Inventors: Steven D. Potter, Zachary John Jackowski, Adam Young
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Patent number: 11920649Abstract: An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.Type: GrantFiled: August 29, 2022Date of Patent: March 5, 2024Assignee: BOSTON DYNAMICS, INC.Inventors: Zachary John Jackowski, Adam Young
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Patent number: 11754155Abstract: A robot leg assembly including a hip joint and an upper leg member. A proximal end portion of the upper leg member rotatably coupled to the hip joint. The robot leg assembly including a knee joint rotatably coupled to a distal end portion of the upper leg member, a lower leg member rotatably coupled to the knee joint, a linear actuator disposed on the upper leg member and defining a motion axis, and a motor coupled to the linear actuator and a linkage coupled to the translation stage and to the lower leg member. The linear actuator includes a translation stage moveable along the motion axis to translate rotational motion of the motor to linear motion of the translation stage along the motion axis, which moves the linkage to rotate the lower leg member relative to the upper leg member at the knee joint.Type: GrantFiled: September 21, 2021Date of Patent: September 12, 2023Assignee: Boston Dynamics, Inc.Inventors: Steven D. Potter, Zachary John Jackowski, Adam Young
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Publication number: 20220412411Abstract: An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.Type: ApplicationFiled: August 29, 2022Publication date: December 29, 2022Inventors: Zachary John Jackowski, Adam Young
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Patent number: 11460076Abstract: An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.Type: GrantFiled: April 27, 2020Date of Patent: October 4, 2022Assignee: BOSTON DYNAMICS, INC.Inventors: Zachary John Jackowski, Adam Young
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Publication number: 20220203532Abstract: A robotic system includes a body including at least one attachment mechanism configured to removably couple a modular component to the body. The modular component includes at least one movable part operable to move relative to the body when the modular component is attached to the body. The system includes a communication interface coupled to the body and configured to be communicatively coupled to the modular component to receive information relating to the modular component and operation of the at least one movable part. The system includes a control system coupled to the body and the communication interface. The control system is configured to: in response to the modular component being attached to the body, receive the information from the modular component by way of the communication interface, and operate the at least one movable part of the modular component according to the information.Type: ApplicationFiled: March 14, 2022Publication date: June 30, 2022Applicant: Boston Dynamics, Inc .Inventors: Zachary John Jackowski, John Aaron Saunders, Benjamin Swilling
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Patent number: 11298826Abstract: A robotic system includes a body including at least one attachment mechanism configured to removably couple a modular component to the body. The modular component includes at least one movable part operable to move relative to the body when the modular component is attached to the body. The system includes a communication interface coupled to the body and configured to be communicatively coupled to the modular component to receive information relating to the modular component and operation of the at least one movable part. The system includes a control system coupled to the body and the communication interface. The control system is configured to: in response to the modular component being attached to the body, receive the information from the modular component by way of the communication interface, and operate the at least one movable part of the modular component according to the information.Type: GrantFiled: September 24, 2018Date of Patent: April 12, 2022Assignee: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, John Aaron Saunders, Benjamin Swilling
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Publication number: 20220003297Abstract: A robot leg assembly including a hip joint and an upper leg member. A proximal end portion of the upper leg member rotatably coupled to the hip joint. The robot leg assembly including a knee joint rotatably coupled to a distal end portion of the upper leg member, a lower leg member rotatably coupled to the knee joint, a linear actuator disposed on the upper leg member and defining a motion axis, and a motor coupled to the linear actuator and a linkage coupled to the translation stage and to the lower leg member. The linear actuator includes a translation stage moveable along the motion axis to translate rotational motion of the motor to linear motion of the translation stage along the motion axis, which moves the linkage to rotate the lower leg member relative to the upper leg member at the knee joint.Type: ApplicationFiled: September 21, 2021Publication date: January 6, 2022Applicant: Boston Dynamics, Inc.Inventors: Steven D. Potter, Zachary John Jackowski, Adam Young
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Patent number: 11131368Abstract: An example robot includes: a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint; a screw actuator disposed within the upper leg member, where the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut; a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft; a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier; and a linkage coupled to the carrier, where the linkage is coupled to the lower leg member at the knee joint.Type: GrantFiled: February 27, 2019Date of Patent: September 28, 2021Assignee: Boston Dynamics, Inc.Inventors: Steven D. Potter, Zachary John Jackowski, Adam Young
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Publication number: 20200256399Abstract: An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.Type: ApplicationFiled: April 27, 2020Publication date: August 13, 2020Applicant: Bostyon Dynamics, Inc.Inventors: Zachary John Jackowski, Adam Young
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Patent number: 10704570Abstract: An example robot includes movable members, a hydraulic system including at least (i) hydraulic actuators configured to operate the movable members, and (ii) a source of hydraulic fluid, and a controller. The controller may be configured to: determine a task to be performed by the robot, where the task includes a plurality of phases; cause hydraulic fluid having a first pressure level to flow from the source to the hydraulic actuators for the robot to perform a first phase of the plurality of phases of the task; based on a second phase of the task, determine a second pressure level for the hydraulic fluid; and adjust, based on the second pressure level, operation of the hydraulic system before the robot begins the second phase of the task.Type: GrantFiled: October 31, 2018Date of Patent: July 7, 2020Assignee: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, Alex Yu Khripin, Alfred Anthony Rizzi
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Patent number: 10655684Abstract: An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.Type: GrantFiled: May 20, 2019Date of Patent: May 19, 2020Assignee: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, Adam Young
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Patent number: 10611034Abstract: An example method includes identifying an operating state at which a velocity of a hydraulic actuator configured to operate a movable member of a robot is less than a threshold velocity and an actuator force is less than a threshold force, determining a valve command that corresponds to the operating state, such that the valve command is provided to a valve configured to control flow to and from the hydraulic actuator, and the valve includes a spool movable within a body of the valve, and the valve command causes the spool to move within the body of the valve to a position that induces the operating state, and determining a null bias signal based on the valve command.Type: GrantFiled: July 11, 2018Date of Patent: April 7, 2020Assignee: Boston Dynamics, Inc.Inventors: Michael Scott Rose, Zachary John Jackowski
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Patent number: 10578129Abstract: A control system may receive sensor data indicative of respective fluid levels of two or more hydraulic accumulators configured to operate at respective target fluid levels within a hydraulic system. The control system may determine respective errors of the hydraulic accumulators based on the respective fluid levels and respective target fluid levels of the hydraulic accumulators. The respective errors may correspond to pressure errors, fluid volume errors, or other types of errors of the hydraulic accumulators. Responsive to determining the respective errors, the control system may determine that the error of a given hydraulic accumulator is greater than errors of the other hydraulic accumulators and provide instructions to control a hydraulic valve to supply fluid from a single pump of the hydraulic system to the given hydraulic accumulator.Type: GrantFiled: December 19, 2017Date of Patent: March 3, 2020Assignee: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, Alex Khripin, Stephen Berard, Alfred Anthony Rizzi
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Patent number: 10525601Abstract: An example robot includes: a motor disposed within a housing at a joint configured to control motion of a member of a robot; a controller including one or more printed circuit boards (PCBs) disposed within the housing and including a plurality of field-effect transistors (FETs) disposed on a surface of a PCB of the one or more PCBs facing the motor; a rotary position sensor mounted on the controller; a shaft coupled to a rotor of the motor and extending therefrom to the controller; and a magnet mounted within the shaft at an end of the shaft facing the controller.Type: GrantFiled: April 23, 2019Date of Patent: January 7, 2020Assignee: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, Kyle Rogers, Adam Young
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Publication number: 20190271361Abstract: An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.Type: ApplicationFiled: May 20, 2019Publication date: September 5, 2019Applicant: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, Adam Young
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Publication number: 20190248021Abstract: An example robot includes: a motor disposed within a housing at a joint configured to control motion of a member of a robot; a controller including one or more printed circuit boards (PCBs) disposed within the housing and including a plurality of field-effect transistors (FETs) disposed on a surface of a PCB of the one or more PCBs facing the motor; a rotary position sensor mounted on the controller; a shaft coupled to a rotor of the motor and extending therefrom to the controller; and a magnet mounted within the shaft at an end of the shaft facing the controller.Type: ApplicationFiled: April 23, 2019Publication date: August 15, 2019Applicant: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, Kyle Rogers, Adam Young
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Patent number: 10337561Abstract: An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.Type: GrantFiled: December 15, 2016Date of Patent: July 2, 2019Assignee: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, Adam Young
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Publication number: 20190186604Abstract: An example robot includes: a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint; a screw actuator disposed within the upper leg member, where the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut; a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft; a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier; and a linkage coupled to the carrier, where the linkage is coupled to the lower leg member at the knee joint.Type: ApplicationFiled: February 27, 2019Publication date: June 20, 2019Applicant: Boston Dynamics, Inc.Inventors: Steven D. Potter, Zachary John Jackowski, Adam Young
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Patent number: 10300609Abstract: An example robot includes: a motor disposed within a housing at a joint configured to control motion of a member of a robot; a controller including one or more printed circuit boards (PCBs) disposed within the housing and including a plurality of field-effect transistors (FETs) disposed on a surface of a PCB of the one or more PCBs facing the motor; a rotary position sensor mounted on the controller; a shaft coupled to a rotor of the motor and extending therefrom to the controller; and a magnet mounted within the shaft at an end of the shaft facing the controller.Type: GrantFiled: December 15, 2016Date of Patent: May 28, 2019Assignee: Boston Dynamics, Inc.Inventors: Zachary John Jackowski, Kyle Rogers, Adam Young