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(11)

EP 4 824 629 A1

(12)

(43) Date of publication: 21.10.2026 Bulletin 2026/43 (21) Application number: 24828711.2 (22) Date of filing: 12.12.2024

(51) International Patent Classification (IPC):  G05D 1/229(2024.01) G05D 1/245(2024.01) G05D 1/248(2024.01) G05D 107/60(2024.01) G05D 111/50(2024.01) G01C 21/00(2006.01) G05D 1/246(2024.01) G05D 107/17(2024.01) G05D 109/12(2024.01) (52) Cooperative Patent Classification (CPC): G05D 1/248; G05D 1/245; G05D 2109/12; G05D 2111/54; G05D 1/246; G05D 2107/60; G05D 2107/17; G05D 1/229; G01C 21/005; G01C 21/3826 (86) International application number: PCT/US2024/059844 (87) International publication number: WO 2025/128869 (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 202363610937 P (71) Applicant: Boston Dynamics, Inc. Waltham, MA 02451 (US)

(72) Inventors: CHESTNUTT, Joel Elliott Waltham, Massachusetts 02451 (US) KLINGENSMITH, Matthew Jacob Waltham, Massachusetts 02451 (US) OTERO, Nicholas Waltham, Massachusetts 02451 (US) SEIFERT, Samuel Frank Waltham, Massachusetts 02451 (US) STATHIS, Christopher Waltham, Massachusetts 02451 (US) (74) Representative: Haseltine Lake Kempner LLP  One Portwall Square Portwall Lane Bristol BS1 6BH Bristol BS1 6BH (GB)