Granted Patent B2

US 12,466,501 · App. 18/587,680 · Granted Nov 11, 2025

Inventors: Kevin Blankespoor (Arlington, MA); Alex Perkins (Arlington, MA); Marco da Silva (Arlington, MA)

Assignee: Boston Dynamics, Inc.

B62D57/02B25J9/1633B25J9/1653B25J9/1694B25J13/08B25J13/085B62D57/032G05D1/021G05D1/027G05D1/245G05D1/43Y10S901/01

Abstract

Claims (43)

1 . A computer-implemented method comprising:

detecting, by data processing hardware of a legged robot, an externally-induced lateral velocity of the legged robot, wherein the detected lateral velocity is different from an instructed velocity of the legged robot, and wherein the legged robot has four legs coupled to a body of the legged robot;

determining, by the data processing hardware, a compensating force based on the detected lateral velocity; and

instructing a movement, by the data processing hardware, of a first leg of the four legs based on the compensating force and in response to detecting the externally-induced lateral velocity.

2 . The computer-implemented method of claim 1 , wherein the externally-induced lateral velocity is based on contact by the legged robot with an object.

3 . The computer-implemented method of claim 2 , further comprising:

obtaining, from a sensor of the legged robot, sensor data, wherein detecting the externally-induced lateral velocity is based on the sensor data.

4 . The computer-implemented method of claim 2 , further comprising:

instructing traversal by the legged robot of an environment of the legged robot according to a gait, wherein the instructed velocity is associated with the gait;

obtaining, from a sensor of the legged robot, sensor data; and

determining a first velocity of the legged robot based on the sensor data, wherein detecting the externally-induced lateral velocity is based on the first velocity of the legged robot and the instructed traversal.

5 . The computer-implemented method of claim 4 , wherein detecting the externally-induced lateral velocity comprises detecting, based on the first velocity of the legged robot, a variation from the instructed velocity.

6 . The computer-implemented method of claim 4 , wherein the movement of the first leg results in a second velocity of the legged robot that at least partially counteracts the externally-induced lateral velocity.

7 . The computer-implemented method of claim 2 , wherein the movement of the first leg comprises a deviation from a gait of the legged robot.

8 . The computer-implemented method of claim 7 , further comprising:

instructing a movement of a second leg of the four legs according to the gait.

9 . The computer-implemented method of claim 7 , wherein instructing the movement of the first leg comprises transmitting, to the legged robot, instructions to move the first leg based on the compensating force, the computer-implemented method further comprising:

moving the first leg based on the instructions; and

moving a second leg of the four legs according to the gait and based on moving the first leg.

10 . The computer-implemented method of claim 7 , further comprising:

obtaining, from a user computing device, an input, wherein the input comprises instructions to operate according to the gait.

11 . The computer-implemented method of claim 7 , wherein a first location for placement of a foot of the first leg is associated with the gait, wherein instructing the movement of the first leg comprises instructing a movement of the foot to a second location different from the first location.

12 . The computer-implemented method of claim 7 , wherein a first time period for placement of a foot of the first leg is associated with the gait, wherein instructing the movement of the first leg comprises instructing a movement of the foot according to a second time period different from the first time period.

13 . The computer-implemented method of claim 1 , further comprising:

instructing a movement of a second leg of the four legs based on the compensating force.

14 . The computer-implemented method of claim 1 , wherein instructing the movement of the first leg comprises instructing a movement of a foot of the first leg from a first location on a ground surface to a second location on the ground surface.

15 . The computer-implemented method of claim 1 , wherein instructing the movement of the first leg comprises instructing a movement of a foot of the first leg not in contact with a ground surface to make contact with the ground surface.

16 . The computer-implemented method of claim 1 , wherein instructing the movement of the first leg comprises instructing a movement of a foot of the first leg according to a plurality of steps.

17 . The computer-implemented method of claim 1 , wherein the movement of the first leg causes provision of the compensating force to a foot of the first leg.

18 . The computer-implemented method of claim 1 , wherein the externally-induced lateral velocity is based on a slip of a foot of the legged robot.

19 . A robot comprising:

a body;

four legs coupled to the body and configured to traverse an environment; and

a control system comprising data processing hardware and memory hardware in communication with the data processing hardware, the memory hardware storing instructions, wherein execution of the instructions by the data processing hardware causes the data processing hardware to:

detect an externally-induced lateral velocity of the robot, wherein the detected lateral velocity is different from an instructed velocity of the robot;

determine a compensating force based on the detected lateral velocity; and

instruct a movement of a first leg of the four legs based on the compensating force and in response to detecting the externally-induced lateral velocity.

20 . A computing system comprising:

data processing hardware; and

memory hardware in communication with the data processing hardware, the memory hardware storing instructions, wherein execution of the instructions by the data processing hardware causes the data processing hardware to:

detect an externally-induced lateral velocity of a four-legged robot, wherein the detected lateral velocity is different from an instructed velocity of the four-legged robot;

determine a compensating force based on the detected lateral velocity; and

instruct a movement of a first leg of the four-legged robot based on the compensating force and in response to detecting the externally-induced lateral velocity.

Assignments (2)

Continuity (6)

References Cited (375)