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Reel/Frame:	043546/0004			Pages:	9
		Recorded:	09/11/2017
Attorney Dkt #:	231441-319794
Conveyance:	ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS).

Total properties: 31

Patent #:	9987745	Issue Dt:	06/05/2018	Application #:	15089355	Filing Dt:	04/01/2016
Title:	Execution of Robotic Tasks

Patent #:	9623568	Issue Dt:	04/18/2017	Application #:	15145773	Filing Dt:	05/03/2016
Title:	Yaw Slip Handling in a Robotic Device

Patent #:	9663165	Issue Dt:	05/30/2017	Application #:	15172404	Filing Dt:	06/03/2016
Title:	Slip Avoidance

Patent #:	9789611	Issue Dt:	10/17/2017	Application #:	15190127	Filing Dt:	06/22/2016
Title:	Handling Gait Disturbances with Asynchronous Timing

Patent #:	10059392	Issue Dt:	08/28/2018	Application #:	15193273	Filing Dt:	06/27/2016
Title:	Control of Robotic Devices With Non-Constant Body Pitch

Patent #:	10017218	Issue Dt:	07/10/2018	Application #:	15194493	Filing Dt:	06/27/2016
Title:	Achieving a Target Gait Behavior in a Legged Robot

Patent #:	10093019	Issue Dt:	10/09/2018	Application #:	15230776	Filing Dt:	08/08/2016
Title:	Determination of Robot Behavior

Patent #:	9927037	Issue Dt:	03/27/2018	Application #:	15232050	Filing Dt:	08/09/2016
Publication #:	US20160348798	Pub Dt:	12/01/2016
Title:	Rotary Valve with Brake Mode

Patent #:	9969087	Issue Dt:	05/15/2018	Application #:	15232439	Filing Dt:	08/09/2016
Title:	LEG COLLISION AVOIDANCE IN A ROBOTIC DEVICE

Patent #:	9777849	Issue Dt:	10/03/2017	Application #:	15288230	Filing Dt:	10/07/2016
Publication #:	US20170023139	Pub Dt:	01/26/2017
Title:	Linear Hydraulic Valve

Patent #:	9737995	Issue Dt:	08/22/2017	Application #:	15295245	Filing Dt:	10/17/2016
Title:	Flat Gripper Actuator

Patent #:	10220518	Issue Dt:	03/05/2019	Application #:	15296094	Filing Dt:	10/18/2016
Publication #:	US20170036352	Pub Dt:	02/09/2017
Title:	Touch-down Sensing for Robotic Devices

Patent #:	10246151	Issue Dt:	04/02/2019	Application #:	15331167	Filing Dt:	10/21/2016
Title:	MECHANICALLY-TIMED FOOTSTEPS FOR A ROBOTIC DEVICE

Patent #:	9662794	Issue Dt:	05/30/2017	Application #:	15359348	Filing Dt:	11/22/2016
Title:	Robotic Finger and Hand

Patent #:	10550860	Issue Dt:	02/04/2020	Application #:	15373626	Filing Dt:	12/09/2016
Publication #:	US20170089365	Pub Dt:	03/30/2017
Title:	Actuator Limit Controller

Patent #:	10351189	Issue Dt:	07/16/2019	Application #:	15377559	Filing Dt:	12/13/2016
Publication #:	US20180162469	Pub Dt:	06/14/2018
Title:	Whole Body Manipulation on a Legged Robot Using Dynamic Balance

Patent #:	10253855	Issue Dt:	04/09/2019	Application #:	15380561	Filing Dt:	12/15/2016
Publication #:	US20180172121	Pub Dt:	06/21/2018
Title:	Screw Actuator for a Legged Robot

Patent #:	10300609	Issue Dt:	05/28/2019	Application #:	15380593	Filing Dt:	12/15/2016
Publication #:	US20180169868	Pub Dt:	06/21/2018
Title:	Motor and Controller Integration for a Legged Robot

Patent #:	10337561	Issue Dt:	07/02/2019	Application #:	15380687	Filing Dt:	12/15/2016
Publication #:	US20180172080	Pub Dt:	06/21/2018
Title:	Transmission with Integrated Overload Protection for a Legged Robot

Patent #:	10399219	Issue Dt:	09/03/2019	Application #:	15386767	Filing Dt:	12/21/2016
Publication #:	US20170100836	Pub Dt:	04/13/2017
Title:	Concentric Opposed Cam Actuator

Patent #:	9908240	Issue Dt:	03/06/2018	Application #:	15386830	Filing Dt:	12/21/2016
Title:	Ground Plane Compensation for Legged Robots

Patent #:	10081104	Issue Dt:	09/25/2018	Application #:	15412304	Filing Dt:	01/23/2017
Title:	Determination of Robotic Step Path

Patent #:	10227999	Issue Dt:	03/12/2019	Application #:	15439340	Filing Dt:	02/22/2017
Publication #:	US20170159680	Pub Dt:	06/08/2017
Title:	Rotary Hydraulic Valve

Patent #:	10300969	Issue Dt:	05/28/2019	Application #:	15443899	Filing Dt:	02/27/2017
Title:	Slip Detection for Robotic Locomotion

Patent #:	10226870	Issue Dt:	03/12/2019	Application #:	15450977	Filing Dt:	03/06/2017
Title:	Yaw Slip Handling in a Robotic Device

Patent #:	10557854	Issue Dt:	02/11/2020	Application #:	15461361	Filing Dt:	03/16/2017
Publication #:	US20170285040	Pub Dt:	10/05/2017
Title:	CA IX - NIR DYES AND THEIR USES

Patent #:	10273986	Issue Dt:	04/30/2019	Application #:	15465415	Filing Dt:	03/21/2017
Publication #:	US20170191505	Pub Dt:	07/06/2017
Title:	Discretized Valve State Control For Multi-Level Hydraulic Systems

Patent #:	10295069	Issue Dt:	05/21/2019	Application #:	15493453	Filing Dt:	04/21/2017
Publication #:	US20170219106	Pub Dt:	08/03/2017
Title:	Integrated Valve for a Legged Robot

Patent #:	10145392	Issue Dt:	12/04/2018	Application #:	15493462	Filing Dt:	04/21/2017
Publication #:	US20170218981	Pub Dt:	08/03/2017
Title:	Hydraulic Pressure Variation in a Legged Robot

Patent #:	9926025	Issue Dt:	03/27/2018	Application #:	15493790	Filing Dt:	04/21/2017
Title:	Slip Avoidance

Patent #:	10105850	Issue Dt:	10/23/2018	Application #:	15495905	Filing Dt:	04/24/2017
Publication #:	US20170225333	Pub Dt:	08/10/2017
Title:	Natural Pitch and Roll

Assignor

GOOGLE INC.

Exec Dt:

05/15/2017

Assignee

BOSTON DYNAMICS, INC.

78 FOURTH AVENUE

WALTHAM, MASSACHUSETTS 02451

Correspondence name and address
	HONIGMAN MILLER SCHWARTZ AND COHN LLP
	350 EAST MICHIGAN AVENUE
	SUITE 300
	KALAMAZOO, MI 49007

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