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公开(公告)号：US20240286284A1
公开(公告)日：2024-08-29
申请号：US18586119
申请日：2024-02-23
Applicant: Dexterity, Inc.
Inventor： Robert Holmberg , Michael Fisher , Zhouwen Sun , Samir Menon , Vikas Agrawal , Avinash Verma
CPC classification number: B25J9/1664 , B25J18/00
Abstract: A robotic system includes a robotic arm that includes a first joint that connects a first segment to a second segment, the first segment being connected at an end of the first segment opposite the first joint to a shoulder joint of the robotic arm and the second segment being connected at an end of the second segment opposite the first joint to an elbow joint of the robotic arm; and a processor coupled to the robotic arm and configured to receive an end effector trajectory and determine a motion plan to move the end effector through the end effector trajectory, including by using the first joint to vary the distance between the shoulder joint and the elbow joint, as and if needed, to realize the end effector trajectory while using the joints and links other than the first joint in a preferred pose.
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公开(公告)号：US20240165812A1
公开(公告)日：2024-05-23
申请号：US18516259
申请日：2023-11-21
Applicant: Dexterity, Inc.
Inventor： Tom Vardon , Anmol Saiprasad Modur , Robert Holmberg , Vikas Agrawal
CPC classification number: B25J9/1676 , B25J13/08
Abstract: A robotic system, method, and device for controlling operation of a robot is disclosed. The robotic system includes (i) a robot configured to move one or more items within a workspace, (ii) a sensor configured to collect sensor data with respect to the workspace, and (iii) one or more processors. The one or more processors are configured to (a) determine to reset operation of the robot, (b) determine, based at least in part on the sensor data, that a human worker exited a safeguarded space within the workspace, and (c) in response to determining that the human worker exited the safeguarded space, resume operation of the robot.
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公开(公告)号：US20240075615A1
公开(公告)日：2024-03-07
申请号：US18239600
申请日：2023-08-29
Applicant: Dexterity, Inc.
Inventor： Avinash Verma , Robert Holmberg , Gil Matzliach , Luis Sentis , Salvador Perez , Samir Menon , Zhouwen Sun
CPC classification number: B25J9/1643 , B25J9/0009 , B25J9/0087 , B25J9/023 , B25J9/1682
Abstract: A robot having seven or more degrees of freedom is disclosed. In various embodiments, the robot includes a positioning robot having m degrees of freedom and a manipulator robot having n degrees of freedom coupled to the positioning robot. The robot is configured to be operated in a first mode of operation, in which the positioning robot is controlled to position move the manipulator robot into a position to perform a task and the manipulator robot is controlled independently of the positioning robot to perform the task; and in a second mode of operation, in which at least a subset of the m degrees of freedom of the positioning robot and at least a subset of the n degrees of freedom of the manipulator robot are controlled together, by a single controller, to perform the task.
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公开(公告)号：US20230158676A1
公开(公告)日：2023-05-25
申请号：US17978610
申请日：2022-11-01
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Rohun Kulkarni , Talbot Morris-Downing , Harry Zhe Su , Samir Menon , Kevin Jose Chavez , Robert Holmberg , Alberto Leyva Arvayo , Toby Leonard Baker
CPC classification number: B25J9/1682 , B25J9/1669 , B25J9/1697 , B25J9/1633 , B25J9/1666 , B25J13/082 , B25J13/085 , B25J19/023
Abstract: A robotic system is disclosed to control multiple robots to cooperatively pick and place objects. In various embodiments, the robotic system includes a first robotic arm having a first end effector; a second robotic arm having a second end effector; and a control computer configured to use the first robotic arm and the second robotic arm to pick and place a plurality of objects, including by using the first robotic arm and the second robotic arm to work cooperatively to pick and place one or more of the objects.
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公开(公告)号：US20220315355A1
公开(公告)日：2022-10-06
申请号：US17217474
申请日：2021-03-30
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Cuthbert Sun , Andrew Nguyen , Samuel Tay , Emilie Peck , Kevin Jose Chavez , Robert Holmberg
Abstract: A robotic line kitting system is disclosed. In various embodiments, a sensor reading associated with a force sensor associated with a robotic instrumentality comprising the robotic line kitting system is received. It is determined based at least in part on the sensor reading that a condition requiring human intervention has been detected. A task to be performed by a human worker to correct the condition is scheduled.
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Patent Agency Ranking
公开(公告)号：US20250091212A1
公开(公告)日：2025-03-20
申请号：US18902080
申请日：2024-09-30
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Talbot Morris-Downing , Harry Zhe Su , Rohun Kulkarni , Kevin Jose Chavez , Samir Menon , Toby Leonard Baker , David Leo Tondreau, III , Robert Holmberg
Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.
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公开(公告)号：US12240714B2
公开(公告)日：2025-03-04
申请号：US18109611
申请日：2023-02-14
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Michael Fisher , Robert Holmberg , Harry Zhe Su , Talbot Morris-Downing , Timothy Ryan , Samir Menon
Abstract: A robotic system is disclosed which includes a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of serially connected links and joints connected to the base; an enabler joint assembly comprising a mounting location at which the base of the robotic arm is mounted and having a rotational axis, offset from the mounting location, about which the enabler joint assembly is configured to rotate the mounting location; and a processor configured to control a first set of motors associated with the n degrees of freedom of the robotic arm and an enabler joint motor comprising the enabler joint assembly to control operation of the robotic arm within an extended operating space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)th degree of freedom provided by the enabler joint assembly.
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公开(公告)号：US12157644B2
公开(公告)日：2024-12-03
申请号：US17217474
申请日：2021-03-30
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Cuthbert Sun , Andrew Nguyen , Samuel Tay , Emilie Peck , Kevin Jose Chavez , Robert Holmberg
Abstract: A robotic line kitting system is disclosed. In various embodiments, a sensor reading associated with a force sensor associated with a robotic instrumentality comprising the robotic line kitting system is received. It is determined based at least in part on the sensor reading that a condition requiring human intervention has been detected. A task to be performed by a human worker to correct the condition is scheduled.
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公开(公告)号：US20240140731A1
公开(公告)日：2024-05-02
申请号：US18407242
申请日：2024-01-08
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Cuthbert Sun , Andrew Nguyen , Samuel Tay , Emilie Peck , Kevin Jose Chavez , Robert Holmberg
CPC classification number: B65G47/905 , B25J9/1651 , B25J9/1661 , B25J9/1666 , B25J9/1676 , B25J9/1679 , B25J9/1697 , B25J13/089 , B65G2203/0283 , B65G2203/041
Abstract: Data indicating a corresponding safety state information indicating an extent to which that operating zone currently is or is not available to the robotic system to perform tasks using one or more robotic instrumentalities associated with a robotic system is used, for each of a plurality of operating zones, to dynamically schedule and perform tasks associated with a higher level objective. The corresponding safety state information associated with the first operating zone indicating one of a plurality of safety states associated with a presence of a human worker in the first operating zone is received from one or more sensors associated with a first operating zone of the plurality of operating zones. Autonomous behavior of the one or more robotic instrumentalities is altered based on the one of the plurality of safety states associated with the presence of the human worker in the first operating zone indicated by the corresponding safety state information.
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公开(公告)号：US20240042613A1
公开(公告)日：2024-02-08
申请号：US18234825
申请日：2023-08-16
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Talbot Morris-Downing , Harry Zhe Su , Rohun Kulkarni , Kevin Jose Chavez , Samir Menon , Toby Leonard Baker , David Leo Tondreau, III , Robert Holmberg
CPC classification number: B25J9/1682 , B25J15/0616 , B25J13/08 , B25J9/1697 , B25J9/1669 , B25J9/0087
Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.
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