公开(公告)号：US12214975B2

公开(公告)日：2025-02-04

申请号：US17837775

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: B65G61/00 ,  B25J9/16

Abstract: A robotic system is disclosed. The system includes a communication interface that receives, from a sensor(s) deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on or in the receptacle. The system includes one or more processors that control a robotic arm to place a first set of items on or in, or remove the first set of items from, the pallet or other receptacle, update a geometric model based on the first set of items placed on or in a receptacle, use the geometric model in combination with the sensor data to estimate a stack of one or more items on or in the receptacle, and use the estimated state to generate or update a plan to control the robotic arm to place a second set of items.

公开(公告)号：US20220402709A1

公开(公告)日：2022-12-22

申请号：US17837775

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: B65G61/00 ,  B25J9/16

Abstract: A robotic system is disclosed. The system includes a communication interface that receives, from a sensor(s) deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on or in the receptacle. The system includes one or more processors that control a robotic arm to place a first set of items on or in, or remove the first set of items from, the pallet or other receptacle, update a geometric model based on the first set of items placed on or in a receptacle, use the geometric model in combination with the sensor data to estimate a stack of one or more items on or in the receptacle, and use the estimated state to generate or update a plan to control the robotic arm to place a second set of items.

公开(公告)号：US20220402139A1

公开(公告)日：2022-12-22

申请号：US17838045

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: B25J9/16

Abstract: A robotic system is disclosed. The system includes a memory that stores a machine learning-based model to provide a scoring function value for a candidate item placement on a pallet on which are plurality of items are to be stacked given a current state value of the pallet and a set of zero or more items placed previously. The system includes one or more processors that use the model to determine a corresponding score for each of a plurality of candidate placements for a next item to be placed and the current state value associated with the current state of the pallet and a set of zero or more items placed previously, select a selected placement based at least in part on the respective scores, control a robotic arm to place the next item according to the selected placement.

公开(公告)号：US20220402133A1

公开(公告)日：2022-12-22

申请号：US17838039

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: B25J9/16

Abstract: A robotic system is disclosed. The system includes a communication interface that receives, from one or more sensors deployed in a workspace, sensor data indicative of a current state of the workspace. The system includes one or more processors that use the sensor data to estimate a state of one or both of the pallet or other receptacle and the set of zero or more items stacked on or in the receptacle, and use the estimated state to generate or update a plan to control a robotic arm to place a next set of items on or in, or remove the next set of items from, the pallet or other receptacle, the plan comprising an ordered sequence of item placements or removals. The plan is generated or updated based at least in part by performing a bounded tree search in which a subset of possible ordered sequences is explored.

公开(公告)号：US12285872B2

公开(公告)日：2025-04-29

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

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.

公开(公告)号：US12258227B2

公开(公告)日：2025-03-25

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

IPC: B65G61/00 ,  B25J9/16

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.

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.

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.

公开(公告)号：US20220402708A1

公开(公告)日：2022-12-22

申请号：US17837797

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 ,  Robert Moreno ,  Arth Beladiya ,  Salvador Perez ,  Jeesu Baek

IPC: B65G57/24

Abstract: A robotic system is disclosed. The system includes a communication interface configured to receive, from one or more sensors deployed in a workspace, sensor data indicative of a current state of the workspace, the workspace comprising a pallet or other receptacle and a plurality of items stacked on or in the receptacle. The system includes one or more processors that use a geometric model based at least in part on past item placements in combination with the sensor data to estimate a state of the pallet or other receptacle and one or more items stacked on or in the pallet or other receptacle, and use the estimated state to generate or update a plan to control a robotic arm to place a next item on or in, or remove a next item from, the pallet or other receptacle in a manner that avoids having the next item collide with any other item stacked on or in the pallet or other receptacle.