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公开(公告)号：US11701776B2
公开(公告)日：2023-07-18
申请号：US17068572
申请日：2020-10-12
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Ivan Alberto Trujillo Priego , Talbot Morris-Downing , Zhouwen Sun , Kevin Jose Chavez , Alberto Leyva Arvayo , Cyril Nader , Farshid Farhat
CPC classification number: B25J9/1664 , B25J9/1633 , B25J9/1679 , B25J9/1687 , B25J9/1694 , B25J13/085 , G05B2219/39322 , G05B2219/39529 , G05B2219/40032 , G05B2219/45063
Abstract: A robotic kitting machine is disclosed. In various embodiments, a robotic arm is used to move an item to a location in proximity to a slot into which the item is to be inserted. Force information generated by a force sensor is received via a communication interface. The force sensor information is used to align a structure comprising the item with a corresponding cavity comprising the slot, and the item is inserted into the slot.
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公开(公告)号：US20210339403A1
公开(公告)日：2021-11-04
申请号：US17374764
申请日：2021-07-13
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Robert Hegdahl
IPC: B25J15/00
Abstract: A robot configured to use a gripper to grasp one or more tools is disclosed. In various embodiments, the robot comprises a robotic arm having a gripper disposed at a free moving end of the robotic arm, and a set of two or more tools configured to grasped or otherwise engaged by the gripper. Each tool in the set of two or more tools may be disposed in a corresponding tool holder, optionally attached to the robot or situated near the robot. The robot is configured to use the gripper to retrieve a selected tool from its tool holder to perform a task; use the tool to perform the task; and return the tool to its tool holder.
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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：US20200270071A1
公开(公告)日：2020-08-27
申请号：US16716284
申请日：2019-12-16
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Yuan Gao , Rohit Arka Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Samir Menon
Abstract: Techniques are disclosed to use a robotic arm to palletize or depalletize diverse items. In various embodiments, data associated with a plurality of items to be stacked on or in a destination location is received. A plan to stack the items on or in the destination location is generated based at least in part on the received data. The plan is implemented at least in part by controlling a robotic arm of the robot to pick up the items and stack them on or in the receptacle according to the plan, including by for each item: using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location; and using one or more second order sensors to snug the item into a final position.
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公开(公告)号：US12263977B2
公开(公告)日：2025-04-01
申请号：US18212121
申请日：2023-06-20
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Gerald Brantner , Zhouwen Sun , Robert Hegdahl , Kevin Jose Chavez
Abstract: A kitting machine is disclosed. In various embodiments, the machine includes an actuator configured to move a surface or receptacle to a position associated with item retrieval; and a controller configured to control operation of the actuator to position an item in the position associated with item retrieval, in a manner that is synchronized at least in part with operation of a robotic retrieval device configured to retrieve the item from the position associated with item retrieval.
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Patent Agency Ranking
公开(公告)号：US12138807B2
公开(公告)日：2024-11-12
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
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：US20240293936A1
公开(公告)日：2024-09-05
申请号：US18593645
申请日：2024-03-01
Applicant: Dexterity, Inc.
Inventor： Wen Hsuan Hsieh , Samir Menon , Zhouwen Sun , Shitij Kumar , Andrew Bylard
CPC classification number: B25J9/1687 , B25J9/1612 , B25J9/1633 , B25J9/1697 , B65G61/00
Abstract: A robotic system is disclosed. In various embodiments, sensor data is received. A plan is determined, based at least in part on the received sensor data, to use a robotic arm to build a stack of items comprising a plurality of items, the plan including with respect to at least a subset of the items a plan to move the item to an initial position on the stack and then reposition and use the robotic arm to pack the item more snugly against an adjacent surface. The plan is implemented at least in part by sending one or more commands to a robotic arm.
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公开(公告)号：US20240017940A1
公开(公告)日：2024-01-18
申请号：US18222289
申请日：2023-07-14
Applicant: Dexterity, Inc.
Inventor： Andrew Lovett , Samir Menon , Robert Holmberg , Jeesu Baek , Andrew Bylard
CPC classification number: B65G47/91 , B25J15/0683
Abstract: A robotic end effector is disclosed. The robotic end effector includes (a) an end effector body having a top side and an operative side opposite the top side, (b) a pull force gripper disposed on the operative side of the end effector body, and (c) a first end effector support structure that is connected to the end effector body and extends from the end effector body in a direction that is orthogonal to the operative side of the end effector body.
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公开(公告)号：US20240009861A1
公开(公告)日：2024-01-11
申请号：US18371750
申请日：2023-09-22
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Robert Hegdahl
IPC: B25J15/00
CPC classification number: B25J15/0061
Abstract: A robot configured to use a gripper to grasp one or more tools is disclosed. In various embodiments, the robot comprises a robotic arm having a gripper disposed at a free moving end of the robotic arm, and a set of two or more tools configured to grasped or otherwise engaged by the gripper. Each tool in the set of two or more tools may be disposed in a corresponding tool holder, optionally attached to the robot or situated near the robot. The robot is configured to use the gripper to retrieve a selected tool from its tool holder to perform a task; use the tool to perform the task; and return the tool to its tool holder.
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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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