# US 12,440,970 (USPTO)

Coordinating an articulated arm with the robot’s base: the arm controller anticipates task forces and sends balance parameters to the base controller so the base can actively counter-balance.

## Key facts

- Jurisdiction: uspto
- Status: granted
- Number: US 12,440,970
- Filing date: 2024-02-15
- Grant date: 2025-10-14
- Verification posture: verified

## Parties (1)

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

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