公开(公告)号：US11288810B2

公开(公告)日：2022-03-29

申请号：US16888376

申请日：2020-05-29

Applicant: MUJIN, Inc.

Inventor： Rosen Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: G06T7/13 ,  G06T7/73 ,  G06T7/50 ,  G06T7/62 ,  G06T19/20 ,  G06T7/11 ,  G06K9/00 ,  G06K9/32 ,  B25J9/16 ,  B65G61/00 ,  G05B19/4093 ,  G06Q10/08 ,  B65B43/46

Abstract: A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location. An event may be detected while implementing an operation based on the image data. A gripper height that corresponds to the event may be determined. Accordingly, the method may include calculating an object height that represents a height estimate of the object.

公开(公告)号：US20200368905A1

公开(公告)日：2020-11-26

申请号：US16992081

申请日：2020-08-12

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Huan Liu ,  Denys Kanunikov

IPC: B25J9/16 ,  B65G61/00 ,  B25J15/00

Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.

公开(公告)号：US20200294244A1

公开(公告)日：2020-09-17

申请号：US16888376

申请日：2020-05-29

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: G06T7/13 ,  B25J9/16 ,  G06T7/73 ,  G06T7/50 ,  G06T7/62 ,  B65G61/00 ,  G05B19/4093 ,  G06Q10/08 ,  G06T19/20 ,  G06T7/11 ,  B65B43/46 ,  G06K9/00 ,  G06K9/32

Abstract: A method for operating a robotic system includes obtaining and processing first data representative of an object at a start location. An event may be detected while implementing an operation based on the image data. A gripper height that corresponds to the event may be determined. Accordingly, the method may include calculating an object height that represents a height estimate of the object.

公开(公告)号：US10773385B2

公开(公告)日：2020-09-15

申请号：US16600367

申请日：2019-10-11

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Huan Liu ,  Denys Kanunikov

IPC: B25J9/16 ,  B25J15/00 ,  B65G61/00

Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.

公开(公告)号：US20200230816A1

公开(公告)日：2020-07-23

申请号：US16600367

申请日：2019-10-11

Applicant: MUJIN, Inc.

Inventor： Rosen Nikolaev Diankov ,  Huan Liu ,  Denys Kanunikov

IPC: B25J9/16 ,  B65G61/00

Abstract: A method for operating a robotic system that includes calculating a base motion plan, wherein the base motion plan includes a sequence of commands or settings, or a combination thereof, that operates a robotic arm and a gripper to transfer a target object from a start location to a task location; receiving a contact measure while executing the base motion plan, wherein the contact measure represents an amount of grip of the gripper on the target object; and generating one or more actuator commands/settings that deviate from the base motion plan when the contact measure fails to satisfy a threshold, wherein the one or more actuator commands/settings thereof are configured to operate the robotic arm, the gripper, or a combination thereof to execute one or more response actions not included in the base motion plan.

公开(公告)号：US10562189B1

公开(公告)日：2020-02-18

申请号：US16443757

申请日：2019-06-17

Applicant: MUJIN, Inc.

Inventor： Rosen Diankov ,  Huan Liu ,  Xutao Ye ,  Jose Jeronimo Moreira Rodrigues ,  Yoshiki Kanemoto ,  Jinze Yu ,  Russell Islam

IPC: B25J9/16 ,  G06T7/00 ,  B25J13/08 ,  G06T7/50 ,  G06T7/13 ,  G06K9/62

Abstract: A method of operating a package handling system includes: receiving first image data representative of a first surface image of a package surface; identifying a pair of intersecting edges for the package surface based on the first image; determining a minimum viable region based on the pair of edges, the minimum viable region for gripping and lifting the package; receiving second image data representative of the package after the lift; and creating registration data based on the third image data.