# US 11,833,680 (USPTO)

Robot movement and online trajectory optimization. Boston Dynamics patent on robot movement and online trajectory optimization (reusable template behaviors + centroidal model-predictive control + kinematic solver) spanning humanoid, biped, quadruped and mobile robots: core Atlas/Spot motion-control IP. Assignee Boston Dynamics, Inc.; granted and active.

## Key facts

- Jurisdiction: uspto
- Status: granted
- Number: US 11,833,680
- Filing date: 2021-06-25
- Priority date: 2021-06-25
- Grant date: 2023-12-05
- Verification posture: verified

## Parties (1)

- **assignee**: [Boston Dynamics](/companies/boston-dynamics.md) (verified)

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