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公开(公告)号：US20240033937A1
公开(公告)日：2024-02-01
申请号：US18485212
申请日：2023-10-11
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Zhouwen Sun , Rohit Arka Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Ben Varkey Benjamin Pottayil , Samir Menon
CPC classification number: B25J9/1697 , B25J9/1612 , B25J9/1687 , B25J9/1674 , B25J9/1692 , G06T7/55 , G06T7/70 , G06T7/12 , G06T7/13 , B25J9/1689 , G06T2207/10028
Abstract: A set of one or more potentially graspable features for one or more objects present in a workspace area are determined based on visual data received from a plurality of cameras. For each of at least a subset of the one or more potentially graspable features one or more corresponding grasp strategies are determined to grasp the feature with a robotic arm and end effector. A score associated with a probability of a successful grasp of a corresponding feature is determined with respect to each of a least a subset of said grasp strategies. A first feature of the one or more potentially graspable features is selected to be grasped using a selected grasp strategy based at least in part on a corresponding score associated with the selected grasp strategy with respect to the first feature. The robotic arm and the end effector are controlled to attempt to grasp the first feature using the selected grasp strategy.
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公开(公告)号：US20220402134A1
公开(公告)日：2022-12-22
申请号：US17838034
申请日：2022-06-10
Applicant: Dexterity, Inc.
Inventor： Rohit Arka Pidaparthi , William Arthur Clary , Neeraja Abhyankar , Jonathan Kuck , Ben Varkey Benjamin Pottayil , Kevin Jose Chavez , Shitij Kumar
Abstract: A robotic system is disclosed. The system includes a memory configured to store estimated state information associated with a computer simulation of a robotic operation to stack a plurality of items on a pallet or other receptacle. The system includes one or more processors coupled to the communication interface and configured to perform the computer simulation. The computer simulation is performed at least in part by combining geometric model data based on idealized simulated robotic placement of each item with programmatically generated noise data. The programmatically generated noise data reflects an estimation of the effect that one or more sources of noise in a real-world physical workspace with which the computer simulation is associated would have on a real-world state of the plurality of items and/or the pallet or other receptacle if the plurality of items were stacked on the pallet or other receptacle as simulated in the computer simulation.
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公开(公告)号：US20250100819A1
公开(公告)日：2025-03-27
申请号：US18973428
申请日：2024-12-09
Applicant: Dexterity, Inc.
Inventor： Rohit Arka Pidaparthi , William Arthur Clary , Neeraja Abhyankar , Jonathan Kuck , Ben Varkey Benjamin Pottayil , Kevin Jose Chavez , Shitij Kumar
Abstract: A robotic system is disclosed. The system includes a memory that stores for each of a plurality of items a set of attribute values. The system includes a processor(s) that uses the attribute values to simulate the placement of items, including by determining, iteratively, for each next item a placement location at which to place the item on a simulated stack of items on the pallet, using the attribute values and a geometric model of where items have been simulated to have been placed to estimate a state of the stack after each of a subset of simulated placements, and using the estimated state to inform a next placement decision. The steps of determining for each next item a placement location and estimating the state of the stack until all of at least a subset of the plurality of items have been simulated as having been placed on the stack.
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公开(公告)号：US20220402710A1
公开(公告)日：2022-12-22
申请号：US17837779
申请日：2022-06-10
Applicant: Dexterity, Inc.
Inventor： Rohit Arka Pidaparthi , William Arthur Clary , Neeraja Abhyankar , Jonathan Kuck , Ben Varkey Benjamin Pottayil , Kevin Jose Chavez , Shitij Kumar
Abstract: A robotic system is disclosed. The system includes a memory that stores for each of a plurality of items a set of attribute values. The system includes a processor(s) that uses the attribute values to simulate the placement of items, including by determining, iteratively, for each next item a placement location at which to place the item on a simulated stack of items on the pallet, using the attribute values and a geometric model of where items have been simulated to have been placed to estimate a state of the stack after each of a subset of simulated placements, and using the estimated state to inform a next placement decision. The steps of determining for each next item a placement location and estimating the state of the stack until all of at least a subset of the plurality of items have been simulated as having been placed on the stack.
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公开(公告)号：US20220288787A1
公开(公告)日：2022-09-15
申请号：US17343606
申请日：2021-06-09
Applicant: Dexterity, Inc.
Inventor： Andrew Dupree , Robert Moreno , Salvador Perez , William Hyslop , Adam Kell , Ben Varkey Benjamin Pottayil
Abstract: A robotic system is disclosed. The system includes a communication interface, and one or more processors coupled to the communication interface and configured to: generate based at least in part on the received data a plan to stack the items on or in the destination location. For each item, the generating the plan includes determining the destination location based at least in part on a characteristic associated with the item, and at least one of (i) a characteristic of a platform or receptacle on which one or more items are to be stacked, and (ii) an existing stack of one or more items on the platform or receptacle. The destination location is determined from among a plurality of zones in which platforms or receptacles are disposed, and each of the plurality of zones are within a range of a robotic arm. A robotic arm is controlled to implement the plan.
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Patent Agency Ranking
公开(公告)号：US20210122046A1
公开(公告)日：2021-04-29
申请号：US17034902
申请日：2020-09-28
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , William Arthur Clary , Kevin Jose Chavez , Ben Varkey Benjamin Pottayil , Rohit Arka Pidaparthi , Roger Lam Hau , Samir Menon
IPC: B25J9/16
Abstract: Techniques are disclosed to use robotic system simulation to control a robotic system. In various embodiments, a communication indicating an action to be performed by a robotic element is received from a robotic control system. Performance of the action by the robotic element is simulated. A state tracking data is updated to reflect a virtual change to one or more state variables as a result of simulated performance of the action. Successful completion of the action by the robotic element is reported to the robotic control system.
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公开(公告)号：US11813758B2
公开(公告)日：2023-11-14
申请号：US16834115
申请日：2020-03-30
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Zhouwen Sun , Rohit Arka Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Ben Varkey Benjamin Pottayil , Samir Menon
CPC classification number: B25J9/1697 , B25J9/1612 , B25J9/1674 , B25J9/1687 , B25J9/1689 , B25J9/1692 , G06T7/12 , G06T7/13 , G06T7/55 , G06T7/70 , G06T2207/10028
Abstract: A set of one or more potentially graspable features for one or more objects present in a workspace area are determined based on visual data received from a plurality of cameras. For each of at least a subset of the one or more potentially graspable features one or more corresponding grasp strategies are determined to grasp the feature with a robotic arm and end effector. A score associated with a probability of a successful grasp of a corresponding feature is determined with respect to each of a least a subset of said grasp strategies. A first feature of the one or more potentially graspable features is selected to be grasped using a selected grasp strategy based at least in part on a corresponding score associated with the selected grasp strategy with respect to the first feature. The robotic arm and the end effector are controlled to attempt to grasp the first feature using the selected grasp strategy.
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公开(公告)号：US20220405439A1
公开(公告)日：2022-12-22
申请号：US17837787
申请日：2022-06-10
Applicant: Dexterity, Inc.
Inventor： Rohit Arka Pidaparthi , William Arthur Clary , Neeraja Abhyankar , Jonathan Kuck , Ben Varkey Benjamin Pottayil , Kevin Jose Chavez , Shitij Kumar
IPC: G06F30/20
Abstract: A robotic system is disclosed. The system includes a memory configured to store for each of a plurality of items a set of attribute values representing one or more physical attributes of the item. The system includes one or more processors coupled to the communication interface and configured to use the attribute values as inputs to a physic engine configured to compute the stability of a simulated stack of items comprising at least a subset of the plurality of items.
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公开(公告)号：US20200316782A1
公开(公告)日：2020-10-08
申请号：US16834115
申请日：2020-03-30
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Zhouwen Sun , Rohit Arka Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Ben Varkey Benjamin Pottayil , Samir Menon
Abstract: A set of one or more potentially graspable features for one or more objects present in a workspace area are determined based on visual data received from a plurality of cameras. For each of at least a subset of the one or more potentially graspable features one or more corresponding grasp strategies are determined to grasp the feature with a robotic arm and end effector. A score associated with a probability of a successful grasp of a corresponding feature is determined with respect to each of a least a subset of said grasp strategies. A first feature of the one or more potentially graspable features is selected to be grasped using a selected grasp strategy based at least in part on a corresponding score associated with the selected grasp strategy with respect to the first feature. The robotic arm and the end effector are controlled to attempt to grasp the first feature using the selected grasp strategy.
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公开(公告)号：US12296493B2
公开(公告)日：2025-05-13
申请号：US18485212
申请日：2023-10-11
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Zhouwen Sun , Rohit Arka Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Ben Varkey Benjamin Pottayil , Samir Menon
Abstract: A set of one or more potentially graspable features for one or more objects present in a workspace area are determined based on visual data received from a plurality of cameras. For each of at least a subset of the one or more potentially graspable features one or more corresponding grasp strategies are determined to grasp the feature with a robotic arm and end effector. A score associated with a probability of a successful grasp of a corresponding feature is determined with respect to each of a least a subset of said grasp strategies. A first feature of the one or more potentially graspable features is selected to be grasped using a selected grasp strategy based at least in part on a corresponding score associated with the selected grasp strategy with respect to the first feature. The robotic arm and the end effector are controlled to attempt to grasp the first feature using the selected grasp strategy.
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