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公开(公告)号：US09981379B1
公开(公告)日：2018-05-29
申请号：US15153694
申请日：2016-05-12
Applicant: X Development LLC
Inventor： David Youmans , Marc Strauss
CPC classification number: B25J9/1612 , B25J15/0028
Abstract: An example robotic gripping device includes two opposable gripping fingers and at least one actuator configured to move the two opposable gripping fingers towards and away from each other within a plane of motion. The robotic gripping device further includes a gripper base coupled to the two opposable gripping fingers, where the gripper base comprises an attachment interface. The robotic gripping device further includes a detachable elongated support member that mates with the attachment interface of the gripper base, such that when the elongated support member is attached to the attachment interface of the gripper base, the elongated support member extends parallel to the plane of motion of the two opposable gripping fingers.
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公开(公告)号：US20180117776A1
公开(公告)日：2018-05-03
申请号：US15853695
申请日：2017-12-22
Applicant: X Development LLC
Inventor： Marc Strauss , David Youmans , Scott Stanford
CPC classification number: B25J15/0475 , B25J15/0408 , B25J15/0433 , B25J15/08
Abstract: A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.
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公开(公告)号：US09855663B1
公开(公告)日：2018-01-02
申请号：US15186393
申请日：2016-06-17
Applicant: X Development LLC
Inventor： Marc Strauss , David Youmans , Scott Stanford
CPC classification number: B25J15/0475 , B25J15/0408 , B25J15/0433 , B25J15/08
Abstract: A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.
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公开(公告)号：US11154985B1
公开(公告)日：2021-10-26
申请号：US16460102
申请日：2019-07-02
Applicant: X Development LLC
Inventor： Marc Strauss
Abstract: A method includes receiving input data indicative of tactile input at a bidirectional jog control device associated with a seven-degree-of-freedom (7DOF) robotic arm, where the 7DOF robotic arm is in a first arm configuration with an end effector of the 7DOF robotic arm positioned at a first pose in an environment. Based on the input data, the method further includes determining a direction to jog the 7DOF robotic arm through a null space while keeping the end effector fixed at the first pose in the environment. The method additionally includes controlling the 7DOF robotic arm to jog through the null space in the determined direction to a second arm configuration, where the end effector is positioned at the first pose in the environment when the 7DOF robotic arm is in the second arm configuration.
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公开(公告)号：US10906174B2
公开(公告)日：2021-02-02
申请号：US16553480
申请日：2019-08-28
Applicant: X Development LLC
Inventor： Ben Berkowitz , Seth Gilbertson , Marc Strauss
Abstract: A device is provided. The device includes a worm drive comprising a worm and a worm gear. The device also includes an actuator comprising a motor, a shaft, and the worm, wherein the shaft is configured to rotate about a shaft axis, and the actuator is configured to (i) drive the worm drive, and (ii) move linearly along the shaft axis. The device also includes a first spring and a second spring, wherein the second ends are fixed, and wherein the first and second springs are configured to resist movement of the actuator along the shaft axis in opposite directions as a result of forces transmitted through the worm drive. The device further includes a linear position encoder configured to determine a position of the actuator along the shaft axis.
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Patent Agency Ranking
公开(公告)号：US20200376656A1
公开(公告)日：2020-12-03
申请号：US16884873
申请日：2020-05-27
Applicant: X Development LLC
Inventor： Ben Berkowitz , Justine Rembisz , Vincent Nabat , Joshua Seal , Gregory Katz , Chris Jones , Nicholas Foster , Christopher Morey , John Tran , Marc Strauss , Philip Mullins , Jonathan Souliere , Sarah Bates , Matthew Day , Robert Wilson , Mario Prats
Abstract: In an embodiment, a mobile robotic device includes a mobile base and a mounting column fixed to the mobile base. The robotic device further includes a seven-degree-of-freedom (7DOF) robotic arm, including a rotatable joint that enables rotation of the 7DOF robotic arm relative to the mounting column. The robotic device additionally includes a perception housing comprising at least one sensor, where the mounting column, the rotatable joint of the 7DOF arm, and the perception housing are arranged in a stacked tower such that the rotatable joint of the 7DOF arm is above the mounting column and below the perception housing.
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公开(公告)号：US20200056950A1
公开(公告)日：2020-02-20
申请号：US16103931
申请日：2018-08-15
Applicant: X Development LLC
Inventor： Marc Strauss
Abstract: An example device includes a rigid plate, an inner element, a plurality of connecting flexural elements coupled between the inner element and rigid plate, and a hardstop that extends through the inner element and couples to the rigid plate. The inner element has a plurality of reflective surface areas that are configured to reflect light to a sensor. The plurality of connecting flexural elements allow the inner element to move relative to rigid plate. The hardstop contacts the inner element when a load applied on the device exceeds a threshold load.
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公开(公告)号：US20190381655A1
公开(公告)日：2019-12-19
申请号：US16553480
申请日：2019-08-28
Applicant: X Development LLC
Inventor： Ben Berkowitz , Seth Gilbertson , Marc Strauss
Abstract: A device is provided. The device includes a worm drive comprising a worm and a worm gear. The device also includes an actuator comprising a motor, a shaft, and the worm, wherein the shaft is configured to rotate about a shaft axis, and the actuator is configured to (i) drive the worm drive, and (ii) move linearly along the shaft axis. The device also includes a first spring and a second spring, wherein the second ends are fixed, and wherein the first and second springs are configured to resist movement of the actuator along the shaft axis in opposite directions as a result of forces transmitted through the worm drive. The device further includes a linear position encoder configured to determine a position of the actuator along the shaft axis.
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公开(公告)号：US10344805B1
公开(公告)日：2019-07-09
申请号：US15133151
申请日：2016-04-19
Applicant: X Development LLC
Inventor： Marc Strauss
Abstract: In example embodiments, a discrete torque limiter is described that includes a first cylindrical member including grooves along a longitudinal surface of the first cylindrical member. The discrete torque limiter includes a second cylindrical member arranged concentrically with the first cylindrical member. The second cylindrical member can be adapted to move independently around the first cylindrical member. The second cylindrical member can include flexural spokes with teeth that engage the grooves along the first cylindrical member when no torque is applied and that disengage from the grooves when a torque that exceeds a threshold torque is applied to the first cylindrical member or second cylindrical member.
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公开(公告)号：US09981382B1
公开(公告)日：2018-05-29
申请号：US15172766
申请日：2016-06-03
Applicant: X Development LLC
Inventor： Marc Strauss , David Youmans
CPC classification number: B25J9/1666 , B25J9/1697
Abstract: An example system includes a robotic device having a robotic manipulator and a support stand. The support stand may receive an object placed thereon in a given orientation and maintain the given orientation. The robotic manipulator may pick up an object in a first orientation with respect to the robotic manipulator and determine a target pose for the object. Based on the determined target pose, a control system may determine to reorient the object with respect to the robotic manipulator using the support stand. The robotic manipulator may place the object on the support stand in a particular orientation and pick up the object, disposed on the support stand in the particular orientation, in a second orientation with respect to the robotic manipulator. While the object is held in the second orientation with respect to the robotic manipulator, the robotic device may move the object to the target pose.
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