Boston Dynamics Inc movement and online trajectory optimizat
US11833680B2 · Boston Dynamics Inc
- Patent number
- US11833680B2
- Applicant
- Boston Dynamics Inc
- Filing date
- 2021-06-25
- CPC class
- B25J9/1602
- Pillar
- Brain
This patent discloses systems and methods for determining movements and optimized trajectories of robotic devices, particularly for dynamic whole-body control in complex environments. It involves pre-computing libraries of template behaviors (e.g., parkour moves) offline and retargeting them in real-time using kinematic state, perception data, centroidal dynamics, and kinematic trajectory modules to enable agile, adaptive robot motion.
Claims
The primary independent claim covers a computer-implemented method comprising: receiving navigation target and kinematic state information; selecting a target trajectory from a library of template behaviors; determining a retargeted trajectory based on real-time inputs; computing centroidal and kinematic trajectories; and controlling the robot accordingly. Dependent claims cover specific modules, blending behaviors, perception integration, and constraints like joint limits and dynamics.
Technical analysis
The invention optimizes nonlinear trajectory planning by separating offline computation of detailed template behaviors from lightweight online retargeting via linearization and short-horizon solves. It integrates centroidal momentum dynamics with full-body kinematics for whole-body coordination, enabling real-time adaptation to perturbations while minimizing computational load—key for legged humanoid robots like those from Boston Dynamics.
Commercial impact
Enhances capabilities of advanced legged robots for applications in inspection, disaster response, logistics, and defense by enabling parkour-like agility and autonomous mission execution. Strengthens Boston Dynamics' IP portfolio in dynamic locomotion, supporting commercialization of Atlas and similar platforms with improved reliability and versatility in unstructured environments.
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