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公开(公告)号：US20240391707A1
公开(公告)日：2024-11-28
申请号：US18794652
申请日：2024-08-05
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Harry Zhe Su , Talbot Morris-Downing , David Leo Tondreau, III , Toby Leonard Baker , Timothy Ryan , Ayush Sharma , Raphael Georg Wirth , Cyril Nader
Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data image data associated with a plurality of items present in a workspace is received. The sensor data is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workspace and place each item singly in a corresponding location in a singulation conveyance structure. The plan includes performing an active measure to change or adapt to a detected state or condition associated with one or more items in the workspace.
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公开(公告)号：US12103184B2
公开(公告)日：2024-10-01
申请号：US17716418
申请日：2022-04-08
Applicant: Dexterity, Inc.
Inventor： Andrew Lovett , Zhouwen Sun , Matthew Rodolfo Molina , Robert Holmberg , Derek Pan
IPC: B25J9/16 , G05B19/4155
CPC classification number: B25J9/1661 , G05B19/4155 , G05B2219/40269 , G05B2219/50391
Abstract: The present application discloses a mechanism to adjust backlash in a rack and pinion powertrain assembly. The mechanism to adjust backlash includes a mounting frame having an opening defined therein to receive an operative end of a drive assembly, a shoulder fastener positioned through a first complementary set of holes at a first end of a mounting flange to movably couple the mounting flange to the mounting frame, the fastener being fastened in a manner such that the mounting flange and drive assembly have freedom to pivot about a longitudinal axis of the first complementary set of holes, and an adjustable length coupling device having a first end coupled mechanically to the mounting plate and a second end coupled mechanically to the mounting flange at a location substantially opposite the first end of the mounting flange.
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公开(公告)号：US12045052B2
公开(公告)日：2024-07-23
申请号：US18138618
申请日：2023-04-24
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Gerald Brantner
CPC classification number: G05D1/0061 , B25J9/1689 , G05D1/0027 , G05D1/0088
Abstract: A robot is operated in an autonomous mode of operation in which the robot autonomously selects a strategy to pick up an item. The item is moved from an initial location to a destination location using the selected strategy. It is determined whether one or more strategies are available to pick up the item in response to the item being dropped while the item is being moved from the initial location to the destination location. It is determined that a further strategy is not available to pick up the item. In response to the determination that the further strategy is not available, a human intervention mode of operation is entered.
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公开(公告)号：US20240228191A1
公开(公告)日：2024-07-11
申请号：US18393504
申请日：2023-12-21
Applicant: Dexterity, Inc.
Inventor： Shitij Kumar , Michael Root , Varun Uday Nayak , Cuthbert Sun , Kunal Shah , Yuan Gao , Zhouwen Sun , Andrew Bylard , Diego Rodriguez , Samir Menon
IPC: B65G47/90
CPC classification number: B65G47/905
Abstract: A robotic system receives from a first agent included in a plurality of robotically controlled agents a request to be provided a motion plan to perform a first pick and place task assigned to the first agent. A first motion plan is determined for the first agent, including by taking into consideration a second motion plan associated with a second agent included in the plurality of robotically controlled agents to perform a second pick and place task assigned to the second agent, at least in part by considering a swept volume associated with at least a remaining uncompleted portion of the second motion plan as an obstacle with which the first agent will not collide while implementing the first motion plan.
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公开(公告)号：US20240165808A1
公开(公告)日：2024-05-23
申请号：US18428427
申请日：2024-01-31
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
CPC classification number: B25J9/1671 , B25J9/1612 , B25J9/163 , B25J9/1661 , B25J9/1674 , B25J9/1697
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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Patent Agency Ranking
公开(公告)号：US20240149462A1
公开(公告)日：2024-05-09
申请号：US18501303
申请日：2023-11-03
Applicant: Dexterity, Inc.
Inventor： Robert Holmberg , Gil Matzliach , Samir Menon , Zhouwen Sun , Prabhat Kumar Sinha
IPC: B25J9/16
CPC classification number: B25J9/1697
Abstract: A variable payload robot is disclosed. In various embodiments, a robot includes two or more joints, each actuated by an associated joint motor and each joint motor having a different capacity, the robot comprising an end effector configured to grasp an object. A processor coupled to the robot is configured to determine based at least in part on the respective capacities of at least a subset of the joint motors and a payload related attribute of the object a plan and trajectory to move the object from a source location to a destination location.
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公开(公告)号：US20240140712A1
公开(公告)日：2024-05-02
申请号：US18406983
申请日：2024-01-08
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Shitij Kumar , Jeesu Baek , Joseph Li , Kishore Ranganath Ramakrishnan , Andrew Lovett , Cyril Nader , Farshid Farhat , David Leo Tondreau, III
CPC classification number: B65G1/1371 , B07C5/3412 , B07C5/362 , B25J9/0093 , B25J9/1664 , G06K7/10366 , G06K7/1413 , B07C2501/0063 , B25J9/1689
Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operating a robotic structure having a robotic arm to pick an item using an end effector of the robotic arm along a predetermined path from a source location to a destination location according to a plan. The picked item is moved according to the plan. An active measure is determined to be performed at least in part to obtain an identifier determined to be missing based on information received via the communication interface from one or more sensors. The robotic structure is autonomously operated to place the item at the destination location based at least in part on the plan.
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公开(公告)号：US20240109205A1
公开(公告)日：2024-04-04
申请号：US18378548
申请日：2023-10-10
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Robert Holmberg , Shitij Kumar , Jeesu Baek , Joseph Li , Kishore Ranganath Ramakrishnan , Andrew Lovett
IPC: B25J15/06
CPC classification number: B25J15/0683 , B25J9/0093
Abstract: An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.
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公开(公告)号：US20240091949A1
公开(公告)日：2024-03-21
申请号：US18238048
申请日：2023-08-25
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Kevin Jose Chavez , Samir Menon , Harry Zhe Su , Talbot Morris-Downing , Rohit Arka Pidaparthi , Ayush Sharma , Raphael Georg Wirth
CPC classification number: B25J9/1697 , B07C1/04 , B25J9/0093 , B25J9/161 , B25J9/1612 , B25J9/1653 , B25J9/1664 , B25J9/1671 , B25J9/1689 , B25J13/08 , B25J15/0616 , B65G47/905 , B65G47/917 , B65G2201/0285 , B65G2203/0216 , B65G2203/041
Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. A grasp strategy is determined for each of at least a subset of items, and for each grasp strategy a corresponding probability of grasp success is computed. The grasp strategies and corresponding probabilities of grasp success are used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.
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公开(公告)号：US11931902B2
公开(公告)日：2024-03-19
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
CPC classification number: B25J9/1671 , B25J9/1612 , B25J9/163 , B25J9/1661 , B25J9/1674 , B25J9/1697
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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