Inventor
STEPHENS BENJAMIN
US31 patents
⚠️ This page may combine multiple inventors who share the name “STEPHENS BENJAMIN”. Patents are grouped by organization below to help distinguish them — per-person disambiguation is on the roadmap.
BOSTON DYNAMICS INC
21 patentsUS10081098B1Sep 25, 2018
Generalized coordinate surrogates for integrated estimation and control
BOSTON DYNAMICS INC49 citations97
US11654569B2May 23, 2023
Handling gait disturbances with asynchronous timing
BOSTON DYNAMICS INC10 citations94
US10406690B1Sep 10, 2019
Handling gait disturbances with asynchronous timing
BOSTON DYNAMICS INC18 citations94
US10246151B1Apr 2, 2019
Mechanically-timed footsteps for a robotic device
BOSTON DYNAMICS INC18 citations94
US10668624B2Jun 2, 2020
Handling gait disturbances with asynchronous timing
BOSTON DYNAMICS INC10 citations92
US11654985B2May 23, 2023
Mechanically-timed footsteps for a robotic device
BOSTON DYNAMICS INC8 citations86
US11225294B1Jan 18, 2022
Mechanically-timed footsteps for a robotic device
BOSTON DYNAMICS INC10 citations86
US10888999B2Jan 12, 2021
Handling gait disturbances with asynchronous timing
BOSTON DYNAMICS INC8 citations84
US11027415B1Jun 8, 2021
Generalized coordinate surrogates for integrated estimation and control
BOSTON DYNAMICS INC7 citations83
US10351189B2Jul 16, 2019
Whole body manipulation on a legged robot using dynamic balance
BOSTON DYNAMICS INC6 citations83
US10093019B1Oct 9, 2018
Determination of robot behavior
BOSTON DYNAMICS INC8 citations82
US11833680B2Dec 5, 2023
Robot movement and online trajectory optimization
BOSTON DYNAMICS INC15 citations81
US12128570B2Oct 29, 2024
Handling gait disturbances with asynchronous timing
BOSTON DYNAMICS INC2 citations73
US11731277B2Aug 22, 2023
Generalized coordinate surrogates for integrated estimation and control
BOSTON DYNAMICS INC1 citations72
US11667343B2Jun 6, 2023
Whole body manipulation on a legged robot using dynamic balance
BOSTON DYNAMICS INC1 citations72
US11084167B1Aug 10, 2021
Offline optimization to robot behavior
BOSTON DYNAMICS INC2 citations71
US12384038B2Aug 12, 2025
Generalized coordinate surrogates for integrated estimation and control
BOSTON DYNAMICS INC0 citations62
US12365407B2Jul 22, 2025
Mechanically-timed footsteps for a robotic device
BOSTON DYNAMICS INC0 citations62
US12172719B2Dec 24, 2024
Whole body manipulation on a legged robot using dynamic balance
BOSTON DYNAMICS INC0 citations62
US11865715B2Jan 9, 2024
Offline optimization to robot behavior
BOSTON DYNAMICS INC0 citations62
US12194629B2Jan 14, 2025
Robot movement and online trajectory optimization
BOSTON DYNAMICS INC0 citations58
GOOGLE INC
4 patentsUS9499218B1Nov 22, 2016
Mechanically-timed footsteps for a robotic device
GOOGLE INC61 citations98
US9387588B1Jul 12, 2016
Handling gait disturbances with asynchronous timing
GOOGLE INC62 citations98
US9440353B1Sep 13, 2016
Offline determination of robot behavior
GOOGLE INC51 citations97
US9789611B1Oct 17, 2017
Handling gait disturbances with asynchronous timing
GOOGLE INC13 citations92
DELTA SEPARATIONS LLC
2 patentsUS10814338B2Oct 27, 2020
Device, system and methods for separation and purification of organic compounds from botanical material
DELTA SEPARATIONS LLC9 citations82
US11014098B2May 25, 2021
Device, system and methods for separation and purification of organic compounds from botanical material
DELTA SEPARATIONS LLC3 citations71