How Robots Figure Out What They're Carrying While Moving
This patent describes how a mobile robot can estimate the weight and balance of an object it's carrying *while moving it*, and then adjust its movements for better control and safety.
Original patent title: “Dynamic mass estimation methods for an integrated mobile manipulator robot”
This patent describes how a mobile robot can estimate the weight and balance of an object it's carrying *while moving it*, and then adjust its movements for better control and safety. Owned by Boston Dynamics with 24 claims, and it is expected to expire in 2045.
Coverage
What does this patent actually cover?
This patent details a method for a mobile robot to dynamically understand the properties of an object it is manipulating. First, the robot plans an initial path, or "trajectory," for the object (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 28). As the robot begins to move the object along this path, it simultaneously estimates the object's "mass characteristics" — things like its total weight, where its center of gravity is, and how hard it is to rotate (Claim 36). It does this by measuring the object's acceleration and the forces and torques, or "wrench," applied to it (AbstractabstractA short summary at the front of the patent describing the invention. Not legally binding.Read more →). Based on these real-time estimates, the robot then modifies its operation, which can involve adjusting the motion of its robotic arm (Claim 32), changing the torques at its arm joints (Claim 33), or even adjusting the movement of its mobile base (Claim 34). For example, a robot might pick up a box, start moving, realize the box is heavier than expected, and then automatically slow down or adjust its posture to prevent tipping.
The gap
What does this patent NOT cover?
- Does not cover estimating an object's mass characteristics *before* the object is in motion, such as by placing it on a scale.
- Does not cover robots that estimate mass characteristics but *do not* then modify their subsequent operation based on those estimates.
- Does not cover robots that are stationary and only manipulate an object with an arm without a mobile base.
- Does not cover estimating mass characteristics without using both determined accelerations and sensed wrenches.
- Does not cover modifying robot operation without planning a *new* trajectory or adjusting arm/base motion based on the estimated mass characteristics.
These exclusions are unique to PatentBrief — derived from the actual claim language, not patent-office boilerplate.
Key facts
What made this novel
The core innovation is the ability to estimate an object's mass properties *while it's actively being moved* and then immediately use that information to adjust the robot's actions. This dynamic feedback loop allows robots to adapt on the fly, rather than relying on pre-programmed assumptions about what they are carrying.
The Patent Drawing
Schematic visualization of the patent's claim structure. Hand-drawn diagrams in progress for each landmark patent.
Where you've seen this
Real-world examples
Boston Dynamics' Atlas humanoid robot
Boston Dynamics' Spot robot with a robotic arm
Warehouse logistics robots handling varied packages
Construction robots manipulating building materials
Robots assisting in disaster relief, moving unknown debris
Why it matters
The bigger picture
This technology is crucial for making mobile robots more adaptable and safer when operating in unpredictable environments or handling objects of unknown properties. By understanding an object's mass in real-time, robots can avoid dropping items, prevent damage to themselves or their surroundings, and perform tasks more efficiently. This capability is especially important for robots designed to work alongside humans or in dynamic settings like warehouses and construction sites.
Filed
January 30, 2025
Market context
Who's building on this
Companies in this space
Boston Dynamics, the assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →, is a leader in advanced mobile and humanoid robots, and this patent directly supports their mission to create highly capable and adaptable machines. Other companies like Agility Robotics, Sanctuary AI, and even major players in logistics automation such as Amazon Robotics are also developing mobile manipulation robots that would benefit from such dynamic sensing and control capabilities.
Market impact
This patent enables a new level of autonomy and safety for mobile manipulation robots, allowing them to operate effectively in less structured environments where object properties are often unknown. It can reduce the need for pre-calibration or manual programming for each new task, potentially increasing the speed and versatility of robotic deployments in logistics, manufacturing, and service industries. This could lead to a broader adoption of robots in tasks currently deemed too complex or risky for automation.
Claim 1 — Plain English
What this patent covers
This patent details a method for a mobile robot to dynamically understand the properties of an object it is manipulating. First, the robot plans an initial path, or "trajectory," for the object (Claim 28). As the robot begins to move the object along this path, it simultaneously estimates the object's "mass characteristics" — things like its total weight, where its center of gravity is, and how hard it is to rotate (Claim 36). It does this by measuring the object's acceleration and the forces and torques, or "wrench," applied to it (Abstract). Based on these real-time estimates, the robot then modifies its operation, which can involve adjusting the motion of its robotic arm (Claim 32), changing the torques at its arm joints (Claim 33), or even adjusting the movement of its mobile base (Claim 34). For example, a robot might pick up a box, start moving, realize the box is heavier than expected, and then automatically slow down or adjust its posture to prevent tipping.
The clever bit
The core innovation is the ability to estimate an object's mass properties *while it's actively being moved* and then immediately use that information to adjust the robot's actions. This dynamic feedback loop allows robots to adapt on the fly, rather than relying on pre-programmed assumptions about what they are carrying.
What it does not cover
- Does not cover estimating an object's mass characteristics *before* the object is in motion, such as by placing it on a scale.
- Does not cover robots that estimate mass characteristics but *do not* then modify their subsequent operation based on those estimates.
- Does not cover robots that are stationary and only manipulate an object with an arm without a mobile base.
- Does not cover estimating mass characteristics without using both determined accelerations and sensed wrenches.
- Does not cover modifying robot operation without planning a *new* trajectory or adjusting arm/base motion based on the estimated mass characteristics.
Patent timeline
Application submitted to the patent office
Patent enters public domain
PatentBrief Score
Impact Score
Limited data
Citation count
0/40
No citations yet
Claim breadth
16/20
Broad claimsclaimsThe numbered statements at the end of a patent that legally define what the inventor owns.Read more →
Recency
0/20
Older than 20 years
Assignee scale
0/20
Independent or smaller assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →
PatentBrief Impact Score — based on citation count, claim breadth, recency, and assignee scale. Not a legal assessment.
Heuristic Value Estimate
What this patent might be worth
$18K – $56K
Midpoint $35K · 18.4 yr remaining · industry ×0.9
Heuristic only — blends forward/backward citation counts, claim scope, time remaining, litigation history, and CPC-derived industry baseline. Real valuations need a professional appraisal.
Claim text not yet imported for this patent
The original legal language
Original claims
24 claims as filed with the patent office.
Concepts involved
Cite this patent
Blankespoor, K., Neville, N., & Talebi, S. How Robots Figure Out What They're Carrying While Moving (U.S. Patent No. 20,250,170,731). U.S. Patent and Trademark Office. https://patentbrief.org/patent/us/20250170731/dynamic-mass-estimation-methods-for-an-integrated-mobile-manipulator-robot
Auto-generated from the patent record. Double-check author order and the issue date against the official USPTO document before submitting.
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Common Questions
Frequently Asked Questions
What does How Robots Figure Out What They're Carrying While Moving cover?
This patent describes how a mobile robot can estimate the weight and balance of an object it's carrying *while moving it*, and then adjust its movements for better control and safety.
Who owns patent US 20250170731?
This patent is owned by Boston Dynamics.
When does this patent expire?
This patent is expected to expire on January 30, 2045, when the invention enters the public domain.
What problem does this patent solve?
This technology is crucial for making mobile robots more adaptable and safer when operating in unpredictable environments or handling objects of unknown properties. By understanding an object's mass in real-time, robots can avoid dropping items, prevent damage to themselves or their surroundings, and perform tasks more efficiently. This capability is especially important for robots designed to work alongside humans or in dynamic settings like warehouses and construction sites.
What does this patent NOT cover?
Does not cover estimating an object's mass characteristics *before* the object is in motion, such as by placing it on a scale.
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