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.

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

IPC: B65G1/137 ,  B07C5/34 ,  B07C5/36 ,  B25J9/00 ,  B25J9/16 ,  G06K7/10 ,  G06K7/14

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.

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.

公开(公告)号：US11905115B2

公开(公告)日：2024-02-20

申请号：US17246356

申请日：2021-04-30

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

IPC: B07C5/36 ,  B65G1/137 ,  B25J9/00 ,  B25J9/16 ,  B07C5/34 ,  G06K7/14 ,  G06K7/10

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 operate a robotic structure to move an item along a predetermined path from a source location to a destination location, and autonomously operating the robotic structure to place the item at the destination location based at least in part on the plan. The item comprises one or more identifiers, and in response to a determination that at least one of the one or more identifiers was not obtained by one or more sensors, an active measure is performed to cause the one or more sensors to obtain the at least one identifier that was not obtained. The predetermined path corresponds to a path along which the item is moved from the source location to the destination location. The predetermined path is planned so that the item is moved within a threshold range of the one or more sensors while the item is moved along the predetermined path.

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.

公开(公告)号：US20220314460A1

公开(公告)日：2022-10-06

申请号：US17219509

申请日：2021-03-31

Applicant: Dexterity, Inc.

Inventor： Zhouwen Sun ,  Robert Holmberg ,  Shitij Kumar ,  Jeesu Baek ,  Joseph Li ,  Kishore Ranganath Ramakrishnan ,  Andrew Lovett

IPC: B25J15/06

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.