{
  "patent_number": "US 20250170731",
  "country": "US",
  "title": "How Robots Figure Out What They're Carrying While Moving",
  "original_title": "Dynamic mass estimation methods for an integrated mobile manipulator robot",
  "summary": "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.",
  "what_it_does": "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.",
  "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."
  ],
  "filed": "2025-01-30",
  "granted": null,
  "expires": "2045-01-30",
  "status": "active",
  "holder": "Boston Dynamics",
  "holder_url": "https://patentbrief.org/company/boston-dynamics",
  "inventors": [
    {
      "name": "Kevin Blankespoor",
      "url": "https://patentbrief.org/inventor/kevin-blankespoor"
    },
    {
      "name": "Neil Neville",
      "url": "https://patentbrief.org/inventor/neil-neville"
    },
    {
      "name": "Shervin Talebi",
      "url": "https://patentbrief.org/inventor/shervin-talebi"
    }
  ],
  "times_cited": 0,
  "tags": [
    "robotics",
    "software",
    "mechanical",
    "ai_ml",
    "manufacturing",
    "logistics"
  ],
  "abstract": "A method of estimating one or more mass characteristics of a payload manipulated by a robot includes moving the payload using the robot, determining one or more accelerations of the payload while the payload is in motion, sensing, using one or more sensors of the robot, a wrench applied to the payload while the payload is in motion, and estimating the one or more mass characteristics of the payload based, at least in part, on the determined accelerations and the sensed wrench.",
  "url": "https://patentbrief.org/patent/us/20250170731/dynamic-mass-estimation-methods-for-an-integrated-mobile-manipulator-robot",
  "markdown_url": "https://patentbrief.org/patent/us/20250170731/dynamic-mass-estimation-methods-for-an-integrated-mobile-manipulator-robot/md",
  "google_patents_url": "https://patents.google.com/patent/US20250170731",
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}