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Reel/Frame:	057964/0415			Pages:	14
		Recorded:	10/27/2021
Attorney Dkt #:	265370-428118
Conveyance:	CORRECTIVE ASSIGNMENT TO CORRECT THE REMOVE APPLICATIONS NUMBERS 63127573 AND 11/302759 AND THE CITY OF THE ASSIGNEE PREVIOUSLY RECORDED AT REEL: 057111 FRAME: 0202. ASSIGNOR(S) HEREBY CONFIRMS THE ASSIGNMENT.

Total properties: 206
Page 2 of 3
Pages: 1 2 3

Patent #:	9981390	Issue Dt:	05/29/2018	Application #:	15653601	Filing Dt:	07/19/2017
Title:	Flat Gripper Actuator

Patent #:	10632616	Issue Dt:	04/28/2020	Application #:	15670404	Filing Dt:	08/07/2017
Title:	Smart Robot Part

Patent #:	10107404	Issue Dt:	10/23/2018	Application #:	15685680	Filing Dt:	08/24/2017
Publication #:	US20180003307	Pub Dt:	01/04/2018
Title:	Linear Hydraulic Valve

Patent #:	9969086	Issue Dt:	05/15/2018	Application #:	15714324	Filing Dt:	09/25/2017
Title:	ACHIEVING A TARGET GAIT IN A LEGGED ROBOT BASED ON STEERING COMMANDS

Patent #:	10406690	Issue Dt:	09/10/2019	Application #:	15714451	Filing Dt:	09/25/2017
Title:	Handling Gait Disturbances with Asynchronous Timing

Patent #:	10583879	Issue Dt:	03/10/2020	Application #:	15714534	Filing Dt:	09/25/2017
Title:	Mitigating Sensor Noise in Legged Robots

Patent #:	10496094	Issue Dt:	12/03/2019	Application #:	15723881	Filing Dt:	10/03/2017
Title:	Systems and Methods for Ground Plane Estimation

Patent #:	11077898	Issue Dt:	08/03/2021	Application #:	15835500	Filing Dt:	12/08/2017
Publication #:	US20180099711	Pub Dt:	04/12/2018
Title:	Predictively Adjustable Hydraulic Pressure Rails

Patent #:	10578129	Issue Dt:	03/03/2020	Application #:	15846362	Filing Dt:	12/19/2017
Publication #:	US20180106276	Pub Dt:	04/19/2018
Title:	Robotic Hydraulic System

Patent #:	10988192	Issue Dt:	04/27/2021	Application #:	15846726	Filing Dt:	12/19/2017
Title:	Three-Piston Ankle Mechanism of a Legged Robot and Associated Control System

Patent #:	9975245	Issue Dt:	05/22/2018	Application #:	15847431	Filing Dt:	12/19/2017
Title:	Methods and Systems for Planning a Body Position of a Robotic Device

Patent #:	10434651	Issue Dt:	10/08/2019	Application #:	15870887	Filing Dt:	01/13/2018
Title:	Failure Mode

Patent #:	10688667	Issue Dt:	06/23/2020	Application #:	15901419	Filing Dt:	02/21/2018
Title:	Continuous Slip Recovery

Patent #:	10780578	Issue Dt:	09/22/2020	Application #:	15902816	Filing Dt:	02/22/2018
Publication #:	US20190255701	Pub Dt:	08/22/2019
Title:	Reaching Mobile Robots

Patent #:	10800049	Issue Dt:	10/13/2020	Application #:	15902843	Filing Dt:	02/22/2018
Publication #:	US20190255716	Pub Dt:	08/22/2019
Title:	Maneuvering Mobile Robots

Patent #:	10719085	Issue Dt:	07/21/2020	Application #:	15902871	Filing Dt:	02/22/2018
Publication #:	US20190258274	Pub Dt:	08/22/2019
Title:	Mobile Robot Sitting and Standing

Patent #:	10802508	Issue Dt:	10/13/2020	Application #:	15902893	Filing Dt:	02/22/2018
Publication #:	US20190258275	Pub Dt:	08/22/2019
Title:	Mobile Robot

Patent #:	10300696	Issue Dt:	05/28/2019	Application #:	15938054	Filing Dt:	03/28/2018
Publication #:	US20180281397	Pub Dt:	10/04/2018
Title:	LIQUID DISCHARGE APPARATUS

Patent #:	10252427	Issue Dt:	04/09/2019	Application #:	15967001	Filing Dt:	04/30/2018
Title:	Flat Gripper Actuator

Patent #:	10144465	Issue Dt:	12/04/2018	Application #:	16006943	Filing Dt:	06/13/2018
Title:	Achieving A Target Gait Behavior In A Legged Robot

Patent #:	10611034	Issue Dt:	04/07/2020	Application #:	16032564	Filing Dt:	07/11/2018
Title:	Determining Null Bias of a Hydraulic Valve of a Robot

Patent #:	11059532	Issue Dt:	07/13/2021	Application #:	16046510	Filing Dt:	07/26/2018
Title:	Control of Robotic Devices with Non-Constant Body Pitch

Patent #:	11027415	Issue Dt:	06/08/2021	Application #:	16055983	Filing Dt:	08/06/2018
Title:	Generalized Coordinate Surrogates For Integrated Estimation and Control

Patent #:	10239208	Issue Dt:	03/26/2019	Application #:	16106402	Filing Dt:	08/21/2018
Title:	Determination of Robotic Step Path

Patent #:	11084167	Issue Dt:	08/10/2021	Application #:	16108919	Filing Dt:	08/22/2018
Title:	Offline Optimization to Robot Behavior

Patent #:	11154990	Issue Dt:	10/26/2021	Application #:	16137255	Filing Dt:	09/20/2018
Title:	Braking and Regeneration Control in a Legged Robot

Patent #:	10654168	Issue Dt:	05/19/2020	Application #:	16137796	Filing Dt:	09/21/2018
Publication #:	US20190022868	Pub Dt:	01/24/2019
Title:	Natural Pitch and Roll

Patent #:	11298826	Issue Dt:	04/12/2022	Application #:	16139142	Filing Dt:	09/24/2018
Title:	Modular Robot System

Patent #:	10266220	Issue Dt:	04/23/2019	Application #:	16166673	Filing Dt:	10/22/2018
Publication #:	US20190054965	Pub Dt:	02/21/2019
Title:	Achieving a Target Gait Behavior in a Legged Robot

Patent #:	10704570	Issue Dt:	07/07/2020	Application #:	16176500	Filing Dt:	10/31/2018
Publication #:	US20190063468	Pub Dt:	02/28/2019
Title:	Hydraulic Pressure Variation in a Legged Robot

Patent #:	11192261	Issue Dt:	12/07/2021	Application #:	16250458	Filing Dt:	01/17/2019
Publication #:	US20190143531	Pub Dt:	05/16/2019
Title:	Touch-down Sensing for Robotic Devices

Patent #:	10808736	Issue Dt:	10/20/2020	Application #:	16253815	Filing Dt:	01/22/2019
Publication #:	US20190154063	Pub Dt:	05/23/2019
Title:	Rotary Hydraulic Valve

Patent #:	11590013	Issue Dt:	02/28/2023	Application #:	16269115	Filing Dt:	02/06/2019
Title:	Brace System

Patent #:	10456916	Issue Dt:	10/29/2019	Application #:	16276672	Filing Dt:	02/15/2019
Publication #:	US20190176329	Pub Dt:	06/13/2019
Title:	Determination of Robotic Step Path

Patent #:	11130235	Issue Dt:	09/28/2021	Application #:	16277034	Filing Dt:	02/15/2019
Publication #:	US20200262068	Pub Dt:	08/20/2020
Title:	Work Mode and Travel Mode for Mobile Robots

Patent #:	11225294	Issue Dt:	01/18/2022	Application #:	16281204	Filing Dt:	02/21/2019
Title:	Mechanically-Timed Footsteps for a Robotic Device

Patent #:	11131368	Issue Dt:	09/28/2021	Application #:	16286778	Filing Dt:	02/27/2019
Publication #:	US20190186604	Pub Dt:	06/20/2019
Title:	Screw Actuator for a Legged Robot

Patent #:	11287826	Issue Dt:	03/29/2022	Application #:	16288205	Filing Dt:	02/28/2019
Publication #:	US20200117198	Pub Dt:	04/16/2020
Title:	TERRAIN AWARE STEP PLANNING SYSTEM

Patent #:	11747825	Issue Dt:	09/05/2023	Application #:	16295592	Filing Dt:	03/07/2019
Publication #:	US20200117214	Pub Dt:	04/16/2020
Title:	Autonomous Map Traversal with Waypoint Matching

Patent #:	11077566	Issue Dt:	08/03/2021	Application #:	16299580	Filing Dt:	03/12/2019
Publication #:	US20200290217	Pub Dt:	09/17/2020
Title:	ROBOTIC LEG

Patent #:	10399621	Issue Dt:	09/03/2019	Application #:	16356757	Filing Dt:	03/18/2019
Publication #:	US20190210673	Pub Dt:	07/11/2019
Title:	ACHIEVING A TARGET GAIT BEHAVIOR IN A LEGGED ROBOT

Patent #:	11023763	Issue Dt:	06/01/2021	Application #:	16358275	Filing Dt:	03/19/2019
Publication #:	US20200302207	Pub Dt:	09/24/2020
Title:	Detecting Boxes

Patent #:	NONE	Issue Dt:		Application #:	16363326	Filing Dt:	03/25/2019
Publication #:	US20200306998	Pub Dt:	10/01/2020
Title:	Multi-Body Controller

Patent #:	10962033	Issue Dt:	03/30/2021	Application #:	16371488	Filing Dt:	04/01/2019
Publication #:	US20190226503	Pub Dt:	07/25/2019
Title:	Discretized Valve State Control For Multi-Level Hydraulic Systems

Patent #:	11548151	Issue Dt:	01/10/2023	Application #:	16382390	Filing Dt:	04/12/2019
Publication #:	US20200324412	Pub Dt:	10/15/2020
Title:	Robotically Negotiating Stairs

Patent #:	10927966	Issue Dt:	02/23/2021	Application #:	16383778	Filing Dt:	04/15/2019
Publication #:	US20190242482	Pub Dt:	08/08/2019
Title:	Integrated Valve for a Legged Robot

Patent #:	10525601	Issue Dt:	01/07/2020	Application #:	16391964	Filing Dt:	04/23/2019
Publication #:	US20190248021	Pub Dt:	08/15/2019
Title:	Motor and Controller Integration for a Legged Robot

Patent #:	11203385	Issue Dt:	12/21/2021	Application #:	16393003	Filing Dt:	04/24/2019
Title:	Slip Detection for Robotic Locomotion

Patent #:	11624447	Issue Dt:	04/11/2023	Application #:	16410579	Filing Dt:	05/13/2019
Publication #:	US20200362972	Pub Dt:	11/19/2020
Title:	Rotary Valve Assembly

Patent #:	10655684	Issue Dt:	05/19/2020	Application #:	16416765	Filing Dt:	05/20/2019
Publication #:	US20190271361	Pub Dt:	09/05/2019
Title:	Transmission with Integrated Overload Protection for a Legged Robot

Patent #:	11667343	Issue Dt:	06/06/2023	Application #:	16433779	Filing Dt:	06/06/2019
Publication #:	US20190283822	Pub Dt:	09/19/2019
Title:	Whole Body Manipulation on a Legged Robot Using Dynamic Balance

Patent #:	11121421	Issue Dt:	09/14/2021	Application #:	16448642	Filing Dt:	06/21/2019
Publication #:	US20190312323	Pub Dt:	10/10/2019
Title:	Battery Thermal Management System

Patent #:	11353345	Issue Dt:	06/07/2022	Application #:	16518191	Filing Dt:	07/22/2019
Publication #:	US20210025736	Pub Dt:	01/28/2021
Title:	Magnetic Encoder Calibration

Patent #:	11319005	Issue Dt:	05/03/2022	Application #:	16520695	Filing Dt:	07/24/2019
Publication #:	US20190344845	Pub Dt:	11/14/2019
Title:	ACHIEVING A TARGET GAIT BEHAVIOR IN A LEGGED ROBOT

Patent #:	10668624	Issue Dt:	06/02/2020	Application #:	16526115	Filing Dt:	07/30/2019
Publication #:	US20190351555	Pub Dt:	11/21/2019
Title:	Handling Gait Disturbances with Asynchronous Timing

Patent #:	11235458	Issue Dt:	02/01/2022	Application #:	16538114	Filing Dt:	08/12/2019
Publication #:	US20200047331	Pub Dt:	02/13/2020
Title:	MANIPULATING BOXES USING A ZONED GRIPPER

Patent #:	10851810	Issue Dt:	12/01/2020	Application #:	16550903	Filing Dt:	08/26/2019
Publication #:	US20190376533	Pub Dt:	12/12/2019
Title:	Actuator Limit Controller

Patent #:	11268816	Issue Dt:	03/08/2022	Application #:	16569885	Filing Dt:	09/13/2019
Publication #:	US20210041243	Pub Dt:	02/11/2021
Title:	Intermediate Waypoint Generator

Patent #:	11447195	Issue Dt:	09/20/2022	Application #:	16570152	Filing Dt:	09/13/2019
Publication #:	US20210039731	Pub Dt:	02/11/2021
Title:	Leg Swing Trajectories

Patent #:	11416003	Issue Dt:	08/16/2022	Application #:	16573284	Filing Dt:	09/17/2019
Publication #:	US20210041887	Pub Dt:	02/11/2021
Title:	Constrained Mobility Mapping

Patent #:	11383381	Issue Dt:	07/12/2022	Application #:	16573579	Filing Dt:	09/17/2019
Publication #:	US20210039253	Pub Dt:	02/11/2021
Title:	Footstep Contact Detection

Patent #:	11413750	Issue Dt:	08/16/2022	Application #:	16579255	Filing Dt:	09/23/2019
Publication #:	US20200016750	Pub Dt:	01/16/2020
Title:	Determination of Robotic Step Path

Patent #:	11287819	Issue Dt:	03/29/2022	Application #:	16596006	Filing Dt:	10/08/2019
Publication #:	US20200033860	Pub Dt:	01/30/2020
Title:	Systems and Methods for Ground Plane Estimation

Patent #:	11691292	Issue Dt:	07/04/2023	Application #:	16600786	Filing Dt:	10/14/2019
Publication #:	US20210107163	Pub Dt:	04/15/2021
Title:	Robot Choreographer

Patent #:	11465281	Issue Dt:	10/11/2022	Application #:	16601035	Filing Dt:	10/14/2019
Publication #:	US20210107150	Pub Dt:	04/15/2021
Title:	DYNAMIC PLANNING CONTROLLER

Patent #:	11340620	Issue Dt:	05/24/2022	Application #:	16661062	Filing Dt:	10/23/2019
Publication #:	US20210041878	Pub Dt:	02/11/2021
Title:	Navigating a Mobile Robot

Patent #:	11188081	Issue Dt:	11/30/2021	Application #:	16703261	Filing Dt:	12/04/2019
Publication #:	US20200241534	Pub Dt:	07/30/2020
Title:	Auto-Swing Height Adjustment

Patent #:	11124252	Issue Dt:	09/21/2021	Application #:	16783261	Filing Dt:	02/06/2020
Publication #:	US20200172183	Pub Dt:	06/04/2020
Title:	MITIGATING SENSOR NOISE IN LEGGED ROBOTS

Patent #:	11752645	Issue Dt:	09/12/2023	Application #:	16790320	Filing Dt:	02/13/2020
Publication #:	US20210252697	Pub Dt:	08/19/2021
Title:	Non-Planar Linear Actuator

Patent #:	11407107	Issue Dt:	08/09/2022	Application #:	16816927	Filing Dt:	03/12/2020
Publication #:	US20200306964	Pub Dt:	10/01/2020
Title:	Palletizing Boxes

Patent #:	11426875	Issue Dt:	08/30/2022	Application #:	16858795	Filing Dt:	04/27/2020
Publication #:	US20200254621	Pub Dt:	08/13/2020
Title:	Natural Pitch and Roll

Patent #:	11460076	Issue Dt:	10/04/2022	Application #:	16858800	Filing Dt:	04/27/2020
Publication #:	US20200256399	Pub Dt:	08/13/2020
Title:	Transmission with Integrated Overload Protection for a Legged Robot

Patent #:	10888999	Issue Dt:	01/12/2021	Application #:	16870381	Filing Dt:	05/08/2020
Publication #:	US20200269430	Pub Dt:	08/27/2020
Title:	Handling Gait Disturbances with Asynchronous Timing

Patent #:	NONE	Issue Dt:		Application #:	16877680	Filing Dt:	05/19/2020
Publication #:	US20210323618	Pub Dt:	10/21/2021
Title:	Identifying Stairs from Footfalls

Patent #:	11407109	Issue Dt:	08/09/2022	Application #:	16877699	Filing Dt:	05/19/2020
Publication #:	US20210323152	Pub Dt:	10/21/2021
Title:	Global Arm Path Planning with Roadmaps and Precomputed Domains

Patent #:	11599128	Issue Dt:	03/07/2023	Application #:	16877721	Filing Dt:	05/19/2020
Publication #:	US20210333804	Pub Dt:	10/28/2021
Title:	Perception and Fitting for a Stair Tracker

Patent #:	NONE	Issue Dt:		Application #:	16877749	Filing Dt:	05/19/2020
Publication #:	US20210331754	Pub Dt:	10/28/2021
Title:	Stair Tracking for Modeled and Perceived Terrain

Patent #:	11712802	Issue Dt:	08/01/2023	Application #:	16884669	Filing Dt:	05/27/2020
Publication #:	US20210323153	Pub Dt:	10/21/2021
Title:	Construction Constrained Motion Primitives from Robot Maps

Patent #:	11927961	Issue Dt:	03/12/2024	Application #:	16884709	Filing Dt:	05/27/2020
Publication #:	US20210325893	Pub Dt:	10/21/2021
Title:	Constrained Robot Autonomy Language

Patent #:	11797016	Issue Dt:	10/24/2023	Application #:	16884954	Filing Dt:	05/27/2020
Publication #:	US20210318687	Pub Dt:	10/14/2021
Title:	Online Authoring of Robot Autonomy Applications

Patent #:	11247344	Issue Dt:	02/15/2022	Application #:	16889035	Filing Dt:	06/01/2020
Publication #:	US20200290213	Pub Dt:	09/17/2020
Title:	Continuous Slip Recovery

Patent #:	11685049	Issue Dt:	06/27/2023	Application #:	16893608	Filing Dt:	06/05/2020
Publication #:	US20210331313	Pub Dt:	10/28/2021
Title:	Robot Localization Using Variance Sampling

Patent #:	11597081	Issue Dt:	03/07/2023	Application #:	16893739	Filing Dt:	06/05/2020
Publication #:	US20210323149	Pub Dt:	10/21/2021
Title:	Slip Handling and Ground Friction Estimation for Robots

Patent #:	11613024	Issue Dt:	03/28/2023	Application #:	17086818	Filing Dt:	11/02/2020
Publication #:	US20220088797	Pub Dt:	03/24/2022
Title:	Gripper Mechanism

Patent #:	11707854	Issue Dt:	07/25/2023	Application #:	17087142	Filing Dt:	11/02/2020
Publication #:	US20220088772	Pub Dt:	03/24/2022
Title:	Omega Wire Routing

Patent #:	11654569	Issue Dt:	05/23/2023	Application #:	17129996	Filing Dt:	12/22/2020
Publication #:	US20210146548	Pub Dt:	05/20/2021
Title:	Handling Gait Disturbances with Asynchronous Timing

Patent #:	11123869	Issue Dt:	09/21/2021	Application #:	17157298	Filing Dt:	01/25/2021
Publication #:	US20210138650	Pub Dt:	05/13/2021
Title:	Robotically Negotiating Stairs

Patent #:	11656630	Issue Dt:	05/23/2023	Application #:	17157405	Filing Dt:	01/25/2021
Publication #:	US20210141389	Pub Dt:	05/13/2021
Title:	Autonomous Map Traversal with Waypoint Matching

Patent #:	11073842	Issue Dt:	07/27/2021	Application #:	17157500	Filing Dt:	01/25/2021
Title:	PERCEPTION AND FITTING FOR A STAIR TRACKER

Patent #:	11654985	Issue Dt:	05/23/2023	Application #:	17158086	Filing Dt:	01/26/2021
Publication #:	US20210147016	Pub Dt:	05/20/2021
Title:	Mechanically-Timed Footsteps for a Robotic Device

Patent #:	11654984	Issue Dt:	05/23/2023	Application #:	17158471	Filing Dt:	01/26/2021
Publication #:	US20210171135	Pub Dt:	06/10/2021
Title:	Slip Detection for Robotic Locomotion

Patent #:	NONE	Issue Dt:		Application #:	17158748	Filing Dt:	01/26/2021
Publication #:	US20210147017	Pub Dt:	05/20/2021
Title:	Achieving a Target Gait Behavior in a Legged Robot

Patent #:	11713776	Issue Dt:	08/01/2023	Application #:	17184434	Filing Dt:	02/24/2021
Publication #:	US20210180619	Pub Dt:	06/17/2021
Title:	Discretized Valve State Control For Multi-Level Hydraulic Systems

Patent #:	11880204	Issue Dt:	01/23/2024	Application #:	17206490	Filing Dt:	03/19/2021
Publication #:	US20220197292	Pub Dt:	06/23/2022
Title:	Automated Return of Teleoperated Vehicles

Patent #:	11932332	Issue Dt:	03/19/2024	Application #:	17229363	Filing Dt:	04/13/2021
Publication #:	US20210229766	Pub Dt:	07/29/2021
Title:	Three-Piston Ankle Mechanism of a Legged Robot and Associated Control System

Patent #:	11562552	Issue Dt:	01/24/2023	Application #:	17246797	Filing Dt:	05/03/2021
Publication #:	US20210256287	Pub Dt:	08/19/2021
Title:	Detecting Boxes

Patent #:	11731277	Issue Dt:	08/22/2023	Application #:	17303731	Filing Dt:	06/07/2021
Publication #:	US20210291373	Pub Dt:	09/23/2021
Title:	Generalized Coordinate Surrogates for Integrated Estimation and Control

Patent #:	11851120	Issue Dt:	12/26/2023	Application #:	17304198	Filing Dt:	06/16/2021
Publication #:	US20210309310	Pub Dt:	10/07/2021
Title:	Control of Robotic Devices with Non-Constant Body Pitch

Patent #:	11850738	Issue Dt:	12/26/2023	Application #:	17305518	Filing Dt:	07/09/2021
Publication #:	US20210331333	Pub Dt:	10/28/2021
Title:	Robotic Leg

100

Patent #:	11660752	Issue Dt:	05/30/2023	Application #:	17305522	Filing Dt:	07/09/2021
Publication #:	US20210331317	Pub Dt:	10/28/2021
Title:	Perception and Fitting for a Stair Tracker

Assignor

BOSTON DYNAMICS, INC.

Exec Dt:

06/14/2021

Assignee

BOSTON DYNAMICS, INC.

251 LITTLE FALLS DRIVE

WILMINGTON, DELAWARE 19808

Correspondence name and address
	BRETT KRUEGER
	650 TRADE CENTRE WAY
	SUITE 200
	KALAMAZOO, MI 49002

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