Boston Dynamics Determination of robotic step path Patent (U
US10239208B1 · Boston Dynamics, Inc.
- Patent number
- US10239208B1
- Applicant
- Boston Dynamics, Inc.
- Filing date
- 2016-09-15
- CPC class
- B25J 9/16
- Pillar
- Brain
Systems and methods for computing capture-point–aware footstep sequences for a legged robot so the body stays within a recoverable balance envelope while traversing planned terrain.
Claims
Independent claims cover generating a step path from robot state and terrain maps, adjusting footholds using capture-point constraints, and updating the path when perception detects deviations.
Technical analysis
This is foundational locomotion IP for Spot-class platforms: instead of open-loop gait tables, the controller continuously recomputes footholds against a capture-point model. That is what lets quadrupeds recover from slips and replan mid-stride without freezing. Competitors without equivalent planning depth tend to fall back to slower, more conservative gaits on cluttered floors.
Commercial impact
Protects core stair/uneven-terrain behavior that industrial inspection customers buy Spot for. Licensing or design-around pressure shows up whenever a new quadruped claims autonomous stair traversal in facilities.
Related patents
- Perception and fitting for a stair tracker — Boston Dynamics, Inc.
- Terrain aware step planning system — Boston Dynamics, Inc.
- Simulation driven robotic control of real robot(s) — GDM Holding LLC
- Robot movement and online trajectory optimization — Boston Dynamics Inc
- Force/torque sensor, apparatus and method for robot teaching and operation — Robotiq Inc.
- Calibration and programming of robots — Universal Robots A/S