公开(公告)号：US20180050454A1

公开(公告)日：2018-02-22

申请号：US15798719

申请日：2017-10-31

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Anthony Sean Jules

IPC: B25J13/06

CPC classification number: B25J13/065 ,  B25J13/025 ,  B25J19/06 ,  G05B2219/35438

Abstract: Example implementations may relate to a computing device configured to operate a robotic system. In particular, the device receives input data that is generated by a hand-holdable controller including a knob, where the knob includes touch sensors arranged to detect touch on surfaces of the knob. Based on the input data, the device detects that the controller is within a first threshold distance from a first component of the robotic system and responsively operates the first component of the robotic system based on the input data. The device then receives subsequent input data that is generated by the controller. Based on the subsequent input data, the device subsequently detects that the controller is within a second threshold distance from a second component of the robotic system and responsively operates the second component of the robotic system based on the subsequent input data.

公开(公告)号：US09862099B1

公开(公告)日：2018-01-09

申请号：US14746076

申请日：2015-06-22

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Anthony Sean Jules

IPC: B25J13/02 ,  G06F3/01 ,  G06F3/041 ,  G06F3/0362 ,  B25J13/08 ,  B25J13/06

CPC classification number: B25J13/025 ,  B25J13/065 ,  B25J13/081 ,  B25J13/084 ,  G05B2219/35438 ,  G05B2219/35449 ,  G06F3/016 ,  G06F3/0362 ,  G06F3/041 ,  G06F2203/04104

Abstract: Example implementations may relate to a haptic hand-holdable controller. In particular, an example device may take the form of a haptic controller, which senses tactile information and provides force feedback for a more intuitive user experience. The force feedback may indicate a state of the device that is being controlled. An example haptic handheld controller may be utilized to manipulate data input to a robot, a tablet computer, and/or any other type of computing device. In an example embodiment, the haptic handheld controller may be such that the controller indicates to the user what manipulation of different types of data feels like, for example, by using operating modes for the haptic handheld controller where a motor varies feedback to the handheld controller.

公开(公告)号：US09707680B1

公开(公告)日：2017-07-18

申请号：US14724207

申请日：2015-05-28

Applicant: X Development LLC

Inventor： Anthony Sean Jules ,  Johan Ulrich Lewin Jessen

IPC: B25J9/16

CPC classification number: B25J9/1661 ,  G05B2219/40099 ,  G05B2219/40113

Abstract: Methods, apparatus, systems, and computer-readable media are provided for determining, based on a task to be performed by a robot and one or more attributes of an environment in which the robot is to perform the task, a suggested task-level movement parameter for application to movement of the robot while performing the task; providing output indicative of the suggested task-level movement parameter; receiving input indicative of user selection of the suggested task-level movement parameter or a user-defined task-level movement parameter; determining, based on the received input, an actual task-level movement parameter to be applied to movement of the robot while performing the task; and identifying, based on the actual task-level movement parameter, a plurality of component-level movement parameters to be applied to a plurality of motion primitives implemented by one or more operational components of the robot to perform the task.

公开(公告)号：US10173319B1

公开(公告)日：2019-01-08

申请号：US15617730

申请日：2017-06-08

Applicant: X Development LLC

Inventor： Anthony Sean Jules ,  Johan Ulrich Lewin Jessen

IPC: B25J9/16

Abstract: Methods, apparatus, systems, and computer-readable media are provided for determining, based on a task to be performed by a robot and past behavior by robots while performing tasks similar to the task, a suggested task-level movement parameter for application to movement of the robot while performing the task; providing output indicative of the suggested task-level movement parameter; receiving input indicative of user selection of the suggested task-level movement parameter or a user-defined task-level movement parameter; determining, based on the received input, an actual task-level movement parameter to be applied to movement of the robot while performing the task; and identifying, based on the actual task-level movement parameter, a plurality of component-level movement parameters to be applied to a plurality of motion primitives implemented by one or more operational components of the robot to perform the task.

公开(公告)号：US10059003B1

公开(公告)日：2018-08-28

申请号：US15009621

申请日：2016-01-28

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Marek Michalowski ,  Anthony Sean Jules

IPC: G06F19/00 ,  G05B15/00 ,  B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/1692 ,  G05B2219/40601 ,  Y10S901/09

Abstract: In one aspect, a method is described. The method may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. The method may further include providing first location data indicating a first location of the end effector tool with respect to the work surface, providing second location data indicating a second location of the end effector tool within the worksite coordinate frame, and providing third location data indicating a third location of the end effector tool within the worksite coordinate frame. The method may further include tracking the location of the end effector tool based on the first, second, and third location data, and, based on the tracked location of the tool, instructing the robotic device to manipulate the end effector tool to perform a task on the work surface.

公开(公告)号：US20180111273A1

公开(公告)日：2018-04-26

申请号：US15842883

申请日：2017-12-15

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Anthony Sean Jules

IPC: B25J13/02 ,  B25J13/08 ,  G06F3/0362 ,  G06F3/01 ,  G06F3/041 ,  B25J13/06

CPC classification number: B25J13/025 ,  B25J13/065 ,  B25J13/081 ,  B25J13/084 ,  G05B2219/35438 ,  G05B2219/35449 ,  G06F3/016 ,  G06F3/0362 ,  G06F3/041 ,  G06F2203/04104

Abstract: Example implementations may relate to a haptic hand-holdable controller. In particular, an example device may take the form of a haptic controller, which senses tactile information and provides force feedback for a more intuitive user experience. The force feedback may indicate a state of the device that is being controlled. An example haptic handheld controller may be utilized to manipulate data input to a robot, a tablet computer, and/or any other type of computing device. In an example embodiment, the haptic handheld controller may be such that the controller indicates to the user what manipulation of different types of data feels like, for example, by using operating modes for the haptic handheld controller where a motor varies feedback to the handheld controller.

公开(公告)号：US09757859B1

公开(公告)日：2017-09-12

申请号：US15003526

申请日：2016-01-21

Applicant: X Development LLC

Inventor： Michael Kolb ,  Jeff Linnell ,  Anthony Sean Jules

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/162 ,  B25J5/007 ,  B25J9/1684 ,  B25J13/089 ,  G01S13/86 ,  G01S13/862 ,  G01S13/865 ,  G01S13/867 ,  G01S13/931 ,  G01S15/931 ,  G01S17/06 ,  G01S17/08 ,  G01S17/936 ,  G05B2219/37423 ,  G05B2219/40298 ,  Y10S901/09

Abstract: Robotic control systems and methods may include providing an end effector tool of a robotic device configured to perform a task on a work surface within a worksite coordinate frame. Unintended movement over time of the end effector tool with respect to the work surface and with respect to the worksite coordinate frame may be determined based on image data indicative of the work surface, first location data indicative of a first location of the end effector tool with respect to the worksite coordinate frame, and second location data indicative of a second location of the end effector tool with respect to the work surface. One or more control signals for the robotic device may be adjusted in order to counteract the unintended movements of the end effector tool with respect to the work surface and worksite coordinate frame.

公开(公告)号：US09744665B1

公开(公告)日：2017-08-29

申请号：US15007558

申请日：2016-01-27

Applicant: X Development LLC

Inventor： Jeffrey Linnell ,  Anthony Sean Jules

IPC: B25J9/10 ,  B25J9/16

CPC classification number: B25J5/007 ,  B25J9/0084 ,  B25J13/089 ,  G05D1/028 ,  G05D1/0291 ,  G05D2201/0207 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/46

Abstract: Example implementations may relate to optimization of observer robot locations. In particular, a control system may detect an event that indicates desired relocation of observer robots within a worksite. Each such observer robot may have respective sensor(s) configured to provide information related to respective positions of a plurality of target objects within the worksite. Responsively, the control system may (i) determine observer robot locations within the worksite at which one or more of the respective sensors are each capable of providing information related to respective positions of one or more of the plurality of target objects and (ii) determine a respectively intended level of positional accuracy for at least two respective target objects. Based on the respectively intended levels of positional accuracy, the control system may select one or more of the observer robot locations and may direct one or more observer robots to relocate to the selected locations.

公开(公告)号：US09737987B1

公开(公告)日：2017-08-22

申请号：US14948112

申请日：2015-11-20

Applicant: X Development LLC

Inventor： Jeff Linnell ,  Anthony Sean Jules ,  Matthew Bitterman ,  Eli Reekmans ,  Kendra Byrne

IPC: G06K7/14 ,  B25J9/16

CPC classification number: B25J9/161 ,  B25J9/1656 ,  B25J13/02 ,  G05B2219/35459 ,  G05B2219/40132 ,  G05G9/02 ,  Y10S901/03

Abstract: Disclosed are systems and methods for detecting a graphic card that visually describes an operational mode of a rotatable interface component via a plurality of curves for rotationally-varying parameters, determining the operational mode that is visually described on the graphic card, and loading the operational mode to the rotatable interface component, where the operational mode specifies operations for a motor such that the motor generates torque on the interface component based on the curves for the rotationally-varying parameters that are shown on the graphic card.

公开(公告)号：US09687982B1

公开(公告)日：2017-06-27

申请号：US14723349

申请日：2015-05-27

Applicant: X Development LLC

Inventor： Anthony Sean Jules ,  Johan Ulrich Lewin Jessen ,  Benjamin M. Davis

IPC: G05B19/18 ,  B25J9/16

CPC classification number: B25J9/1612 ,  B25J9/161 ,  G05B2219/39466 ,  G05B2219/40527

Abstract: Methods and apparatus that adapt programming and/or control of a robot. The robot has at least one attachment area that can removably couple with any one of a plurality of end effectors. The programming and/or control is adapted based on received parameters of an end effector attached (or to be attached) to the attachment area of the robot. Some implementations are directed to adapting graphical user interface output of a robot programming application based on one or more parameters of an end effector for a robot being programmed via the robot programming application. Some implementations are directed to adapting control of a robot based on one or more parameters of an end effector attached (or to be attached) to the robot.