(19)

(11)

EP 4 823 807 A1

(12)

(43) Date of publication: 21.10.2026 Bulletin 2026/43 (21) Application number: 24808825.4 (22) Date of filing: 04.11.2024

(51) International Patent Classification (IPC):  B25J 9/16(2006.01) G05B 9/02(2006.01) F16P 3/14(2006.01) B25J 19/06(2006.01) G05B 19/406(2006.01) (52) Cooperative Patent Classification (CPC): B25J 9/1674; G05B 9/02; G05B 19/406; F16P 3/141; G05B 2219/50198; G05B 2219/40202; G05B 2219/50177; G05B 2219/33206; B25J 13/003; B25J 19/026 (86) International application number: PCT/US2024/054375 (87) International publication number: WO 2025/128231 (19.06.2025 Gazette 2025/25)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA Designated Validation States: GE KH MA MD TN (30) Priority: 15.12.2023 US 202318541355 (71) Applicant: Boston Dynamics, Inc. Waltham, MA 02451 (US)	(72) Inventor: VICENTINI, Federico Waltham, Massachusetts 02451 (US) (74) Representative: Haseltine Lake Kempner LLP  One Portwall Square Portwall Lane Bristol BS1 6BH Bristol BS1 6BH (GB)