公开(公告)号：US12134182B2

公开(公告)日：2024-11-05

申请号：US18371750

申请日：2023-09-22

Applicant: Dexterity, Inc.

Inventor： Samir Menon ,  Zhouwen Sun ,  Robert Hegdahl

IPC: B25J15/00 ,  B25J15/08

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.

公开(公告)号：US20240319725A1

公开(公告)日：2024-09-26

申请号：US18733575

申请日：2024-06-04

Applicant: Dexterity, Inc.

Inventor： Samir Menon ,  Zhouwen Sun ,  Gerald Brantner

IPC: G05D1/00 ,  B25J9/16

CPC classification number: G05D1/0061 ,  B25J9/1689

Abstract: A robot is operated in an autonomous mode of operation to perform a plurality of tasks. It is determined that a later task of the plurality of tasks needs human assistance while performing a current task of the plurality of tasks. The human assistance is scheduled for the later task. A teleoperator is communicated with to perform the human assistance associated with the later task.

公开(公告)号：US20240286284A1

公开(公告)日：2024-08-29

申请号：US18586119

申请日：2024-02-23

Applicant: Dexterity, Inc.

Inventor： Robert Holmberg ,  Michael Fisher ,  Zhouwen Sun ,  Samir Menon ,  Vikas Agrawal ,  Avinash Verma

IPC: B25J9/16 ,  B25J18/00

CPC classification number: B25J9/1664 ,  B25J18/00

Abstract: A robotic system includes a robotic arm that includes a first joint that connects a first segment to a second segment, the first segment being connected at an end of the first segment opposite the first joint to a shoulder joint of the robotic arm and the second segment being connected at an end of the second segment opposite the first joint to an elbow joint of the robotic arm; and a processor coupled to the robotic arm and configured to receive an end effector trajectory and determine a motion plan to move the end effector through the end effector trajectory, including by using the first joint to vary the distance between the shoulder joint and the elbow joint, as and if needed, to realize the end effector trajectory while using the joints and links other than the first joint in a preferred pose.

公开(公告)号：US11969880B2

公开(公告)日：2024-04-30

申请号：US18107443

申请日：2023-02-08

Applicant: Dexterity, Inc.

Inventor： Samir Menon ,  Zhouwen Sun ,  Harry Zhe Su

IPC: B25J13/08 ,  B25J19/02

CPC classification number: B25J13/084 ,  B25J13/082 ,  B25J13/085 ,  B25J19/023 ,  B25J19/027

Abstract: A value associated with a plurality of measurement objects that are embedded in a material associated with an intermediate layer of a plurality of layers associated with a tactile sensing unit is sensed. The value associated with the plurality of measurement objects is sensed by a sensor that is included a layer below the intermediate layer of the tactile sensing unit. An output of the sensor is used to make a determination associated with engagement of a robotic arm end effector with an item.

公开(公告)号：US20240075615A1

公开(公告)日：2024-03-07

申请号：US18239600

申请日：2023-08-29

Applicant: Dexterity, Inc.

Inventor： Avinash Verma ,  Robert Holmberg ,  Gil Matzliach ,  Luis Sentis ,  Salvador Perez ,  Samir Menon ,  Zhouwen Sun

IPC: B25J9/16 ,  B25J9/00 ,  B25J9/02

CPC classification number: B25J9/1643 ,  B25J9/0009 ,  B25J9/0087 ,  B25J9/023 ,  B25J9/1682

Abstract: A robot having seven or more degrees of freedom is disclosed. In various embodiments, the robot includes a positioning robot having m degrees of freedom and a manipulator robot having n degrees of freedom coupled to the positioning robot. The robot is configured to be operated in a first mode of operation, in which the positioning robot is controlled to position move the manipulator robot into a position to perform a task and the manipulator robot is controlled independently of the positioning robot to perform the task; and in a second mode of operation, in which at least a subset of the m degrees of freedom of the positioning robot and at least a subset of the n degrees of freedom of the manipulator robot are controlled together, by a single controller, to perform the task.

公开(公告)号：US20240033937A1

公开(公告)日：2024-02-01

申请号：US18485212

申请日：2023-10-11

Applicant: Dexterity, Inc.

Inventor： Kevin Jose Chavez ,  Zhouwen Sun ,  Rohit Arka Pidaparthi ,  Talbot Morris-Downing ,  Harry Zhe Su ,  Ben Varkey Benjamin Pottayil ,  Samir Menon

IPC: B25J9/16 ,  G06T7/55 ,  G06T7/70 ,  G06T7/12 ,  G06T7/13

CPC classification number: B25J9/1697 ,  B25J9/1612 ,  B25J9/1687 ,  B25J9/1674 ,  B25J9/1692 ,  G06T7/55 ,  G06T7/70 ,  G06T7/12 ,  G06T7/13 ,  B25J9/1689 ,  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.

公开(公告)号：US20230331411A1

公开(公告)日：2023-10-19

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

IPC: B65B43/52 ,  B65B57/14 ,  B65B43/54 ,  B25J9/16 ,  B65B5/08 ,  B65B35/54 ,  B65B5/12

CPC classification number: B65B5/08 ,  B25J9/1679 ,  B25J9/1697 ,  B65B5/12 ,  B65B35/54 ,  B65B43/52 ,  B65B43/54 ,  B65B57/14 ,  B25J9/1689

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.

公开(公告)号：US20230302644A1

公开(公告)日：2023-09-28

申请号：US18202524

申请日：2023-05-26

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

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1679 ,  B25J9/1694 ,  B25J9/1633 ,  B25J9/1687 ,  B25J13/085

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.

公开(公告)号：US20230264351A1

公开(公告)日：2023-08-24

申请号：US18099886

申请日：2023-01-20

Applicant: Dexterity, Inc.

Inventor： Samir Menon ,  Zhouwen Sun

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J19/0004

Abstract: A robotic system with independently controllable higher derivatives is disclosed. An indication is received of a trajectory through which an end effector comprising a robotic arm is to be moved. A plan is determined to use a combination of one or more motors and one or more energy removal devices to move one or more elements comprising the robotic arm in a manner that will result in the end effector being moved through the trajectory, including by using the one or more motors to apply torque to said one or more elements comprising the robotic arm during a first interval and using the one or more energy removal devices to remove energy from one or more of said elements during a second interval that starts after the start of the first interval. Commands to implement the plan are sent via a communication interface.

公开(公告)号：US11731792B2

公开(公告)日：2023-08-22

申请号：US16143278

申请日：2018-09-26

Applicant: Dexterity, Inc.

Inventor： Samir Menon ,  Gerald Brantner ,  Zhouwen Sun ,  Robert Hegdahl ,  Kevin Jose Chavez

IPC: B25J9/16 ,  B65B5/08 ,  B65B5/12 ,  B65B35/54 ,  B65B43/52 ,  B65B43/54 ,  B65G1/137 ,  G05D1/00 ,  G06Q10/08 ,  B65B57/14

CPC classification number: B65B5/08 ,  B25J9/1679 ,  B25J9/1697 ,  B65B5/12 ,  B65B35/54 ,  B65B43/52 ,  B65B43/54 ,  B65B57/14 ,  B25J9/1689

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.