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Alfred Rizzi Phones & Addresses

  • Belmont, MA
  • Westmoreland, NH
  • 40 Marion Rd, Watertown, MA 02472
  • 901 Wellesley Ave, Pittsburgh, PA 15202 (412) 441-2941
  • 211 S Revena Blvd, Ann Arbor, MI 48103
  • Shrewsbury, MA
  • 916 Wellesley Rd, Pittsburgh, PA 15206

Work

Company: Google Feb 2014 to Feb 2018 Position: Senior staff roboticist

Education

Degree: Doctorates, Doctor of Philosophy School / High School: Yale University 1988 to 1994

Skills

Robotics • Algorithms • Sensors • Matlab • Mobile Robotics • Simulations • Artificial Intelligence • Image Processing • Mathematical Modeling • Programming • Computer Vision • Machine Learning • Computer Science • R&D • Signal Processing • Latex • Pattern Recognition • Python • Labview • Optimization • Modeling • Systems Engineering • Opengl • Numerical Analysis

Industries

Research

Resumes

Resumes

Alfred Rizzi Photo 1

Chief Robotics Scientist

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Location:
65 Partridge Ln, Belmont, MA 02478
Industry:
Research
Work:
Google Feb 2014 - Feb 2018
Senior Staff Roboticist

Boston Dynamics Jan 2006 - Feb 2014
Chief Robotics Scientist

Carnegie Mellon University Jan 1996 - Dec 2005
Associate Research Professor

University of Michigan Jan 1994 - Dec 1995
Post Doctoral Fellow

Northrop Grumman Corporation Aug 1986 - Jul 1988
Engineer Ii
Education:
Yale University 1988 - 1994
Doctorates, Doctor of Philosophy
Massachusetts Institute of Technology 1982 - 1986
Skills:
Robotics
Algorithms
Sensors
Matlab
Mobile Robotics
Simulations
Artificial Intelligence
Image Processing
Mathematical Modeling
Programming
Computer Vision
Machine Learning
Computer Science
R&D
Signal Processing
Latex
Pattern Recognition
Python
Labview
Optimization
Modeling
Systems Engineering
Opengl
Numerical Analysis

Publications

Us Patents

Hopping Robot

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US Patent:
20120259460, Oct 11, 2012
Filed:
Apr 11, 2011
Appl. No.:
13/066276
Inventors:
Alfred Anthony Rizzi - Belmont MA, US
Michael Patrick Murphy - Cambridge MA, US
John Joseph Giarratana - Whitman MA, US
Matthew David Malchano - Somerville MA, US
Christian Allen Weagle - Malden MA, US
Chris Aaron Richburg - Somerville MA, US
International Classification:
G05B 13/00
B62D 57/00
US Classification:
700245, 180 71, 901 1, 901 46
Abstract:
A robot includes a chassis, a motive subsystem configured to maneuver the chassis, a hopping actuator attached to the chassis and configured to launch the robot, and at least one leg pivotable with respect to the chassis to pitch the chassis upward at a selected launch trajectory angle. A control subsystem automatically actuates and controls the motive subsystem when the robot is airborne and uses the rotational momentum of the motive subsystem to control the attitude of the robot chassis in flight.

Closed-Loop Planar Linear Motor With Integral Monolithic Three-Degree-Of-Freedom Ac-Magnetic Position/Orientation Sensor

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US Patent:
61751693, Jan 16, 2001
Filed:
May 3, 1999
Appl. No.:
9/303874
Inventors:
Ralph L. Hollis - Pittsburgh PA
Zachary J. Butler - Pittsburgh PA
Alfred A. Rizzi - Pittsburgh PA
Arthur E. Quard - Pittsburgh PA
International Classification:
H02K 4100
G05B 1100
US Classification:
310 12
Abstract:
The invention discloses a closed loop planar linear motor which includes a stationary stator (or platen) of arbitrary extent, and a moving forcer which is a single rigid body that can move over the planar stator surface on an air bearing with high speed and high precision in two orthogonal translational directions and a small rotation (or combinations thereof). An important distinguishing feature is a monolithic position and orientation sensor based on alternating current (AC) magnetic techniques which is an integral part of the forcer and occupies otherwise unused space in the forcer body. Also incorporated within the forcer is a special electronic processing element which converts weak AC signals from the sensor into usable high precision position and orientation information relative to the stator surface. A unique controller which is part of the closed-loop linear motor acts to combine information from the AC magnetic sensor with input from a user to provide precise, high-performance closed-loop control of the forcer, thereby enabling the forcer to be positioned with sub-micrometer precision and oriented with sub-millidegree precision on the stator surface. Additionally, owing to its closed-loop nature, the forcer can maintain its position and orientation even in the presence of disturbance forces and torques, and can emulate the operation of a mechanical spring and damper.

Global Arm Path Planning With Roadmaps And Precomputed Domains

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US Patent:
20220324108, Oct 13, 2022
Filed:
Jun 27, 2022
Appl. No.:
17/809204
Inventors:
- Waltham MA, US
Alfred Anthony Rizzi - Waltham MA, US
International Classification:
B25J 9/16
B25J 9/04
Abstract:
A method of planning a path for an articulated arm of robot includes generating a directed graph corresponding to a joint space of the articulated arm. The directed graph includes a plurality of nodes each corresponding to a joint pose of the articulated arm. The method also includes generating a planned path from a start node associated with a start pose of the articulated arm to an end node associated with a target pose of the articulated arm. The planned path includes a series of movements along the nodes between the start node and the end node. The method also includes determining when the articulated arm can travel to a subsequent node or the target pose, terminating a movement of the articulated arm towards a target node, and initiating a subsequent movement of the articulated arm to move directly to the target pose or the subsequent node.

Limiting Arm Forces And Torques

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US Patent:
20220193893, Jun 23, 2022
Filed:
May 4, 2021
Appl. No.:
17/306990
Inventors:
- Waltham MA, US
Alfred Anthony Rizzi - Waltham MA, US
Navid Aghasadeghi - Boston MA, US
Alex Khripin - Waltham MA, US
Assignee:
Boston Dynamics, Inc. - Waltham MA
International Classification:
B25J 9/16
Abstract:
A computer-implemented method includes generating a joint-torque-limit model for the articulated arm based on allowable joint torque sets corresponding to a base pose of the base. The method also include receiving a first requested joint torque set for a first arm pose of the articulated arm and determining, using the joint-torque-limit model, an optimized joint torque set corresponding to the first requested joint torque set. The method also includes receiving a second requested joint torque set for a second arm pose of the articulated arm and generating an adjusted joint torque set by adjusting the second requested joint torque set based on the optimized joint torque set. The method also includes sending the adjusted joint torque set to the articulated arm.

Supervised Autonomous Grasping

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US Patent:
20220193894, Jun 23, 2022
Filed:
Dec 17, 2021
Appl. No.:
17/644945
Inventors:
- Waltham MA, US
Alfred Anthony Rizzi - Waltham MA, US
Assignee:
Boston Dynamics, Inc. - Waltham MA
International Classification:
B25J 9/16
B25J 13/00
Abstract:
A computer-implemented method, executed by data processing hardware of a robot, includes receiving a three-dimensional point cloud of sensor data for a space within an environment about the robot. The method includes receiving a selection input indicating a user-selection of a target object represented in an image corresponding to the space. The target object is for grasping by an end-effector of a robotic manipulator of the robot. The method includes generating a grasp region for the end-effector of the robotic manipulator by projecting a plurality of rays from the selected target object of the image onto the three-dimensional point cloud of sensor data. The method includes determining a grasp geometry for the robotic manipulator to grasp the target object within the grasp region. The method includes instructing the end-effector of the robotic manipulator to grasp the target object within the grasp region based on the grasp geometry.

Constrained Manipulation Of Objects

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US Patent:
20220193898, Jun 23, 2022
Filed:
Dec 16, 2021
Appl. No.:
17/644642
Inventors:
- Waltham MA, US
Alfred Anthony Rizzi - Waltham MA, US
Gina Fay - Lexington MA, US
Robert Eugene Paolini - Cambridge MA, US
Assignee:
Boston Dynamics, Inc. - Waltham MA
International Classification:
B25J 9/16
B25J 13/08
G05B 19/4155
Abstract:
A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The robot includes an articulated arm having an end effector engaged with a constrained object. The operations include receiving a measured task parameter set for the end effector. The measured task parameter set includes position parameters defining a position of the end effector. The operations further include determining, using the measured task parameter set, at least one axis of freedom and at least one constrained axis for the end effector within a workspace. The operations also include assigning a first impedance value to the end effector along the at least one axis of freedom and assigning a second impedance value to the end effector along the at least one constrained axis. The operations include instructing the articulated arm to move the end effector along the at least one axis of freedom.

Arm And Body Coordination

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US Patent:
20220193900, Jun 23, 2022
Filed:
May 12, 2021
Appl. No.:
17/318435
Inventors:
- Waltham MA, US
Andrew James Barry - Cambridge MA, US
Benjamin John Swilling - Winchester MA, US
Alfred Anthony Rizzi - Waltham MA, US
Assignee:
Boston Dynamics, Inc. - Waltham MA
International Classification:
B25J 9/16
Abstract:
A computer-implemented method, when executed by data processing hardware of a robot having an articulated arm and a base, causes data processing hardware to perform operations. The operations include determining a first location of a workspace of the articulated arm associated with a current base configuration of the base of the robot. The operations also include receiving a task request defining a task for the robot to perform outside of the workspace of the articulated arm at the first location. The operations also include generating base parameters associated with the task request. The operations further include instructing, using the generated base parameters, the base of the robot to move from the current base configuration to an anticipatory base configuration.

Door Opening Behavior

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US Patent:
20220193905, Jun 23, 2022
Filed:
Dec 17, 2021
Appl. No.:
17/644840
Inventors:
- Waltham MA, US
Andrew James Barry - Cambridge MA, US
Matthew David Malchano - Arlington MA, US
Benjamin John Swilling - Winchester MA, US
Alfred Anthony Rizzi - Waltham MA, US
Assignee:
Boston Dynamics, Inc. - Waltham MA
International Classification:
B25J 9/16
B62D 57/032
Abstract:
Data processing hardware of a robot performs operations to identify a door within an environment. A robotic manipulator of the robot grasps a feature of the door on a first side facing the robot. When the door opens in a first direction toward the robot, the robotic manipulator exerts a pull force to swing the door in the first direction, a leg of the robot moves to a position that blocks the door from swinging in the second direction, the robotic manipulator contacts the door on a second side opposite the first side, and the robotic manipulator exerts a door opening force on the second side as the robot traverses a doorway corresponding to the door. When the door opens in a second direction away from the robot, the robotic manipulator exerts the door opening force on the first side as the robot traverses the doorway.
Alfred A Rizzi from Belmont, MA, age ~60 Get Report