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公开(公告)号：US12138807B2
公开(公告)日：2024-11-12
申请号：US18234825
申请日：2023-08-16
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Talbot Morris-Downing , Harry Zhe Su , Rohun Kulkarni , Kevin Jose Chavez , Samir Menon , Toby Leonard Baker , David Leo Tondreau, III , Robert Holmberg
Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.
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公开(公告)号：US11981517B2
公开(公告)日：2024-05-14
申请号：US17217441
申请日：2021-03-30
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Cuthbert Sun , Andrew Nguyen , Samuel Tay , Emilie Peck , Kevin Jose Chavez , Robert Holmberg
CPC classification number: B65G47/905 , B25J9/1651 , B25J9/1661 , B25J9/1666 , B25J9/1676 , B25J9/1697 , B65G2203/0291 , B65G2203/041 , B65G2203/044
Abstract: A robotic line kitting system is disclosed. In various embodiments, a signal associated with an unsafe condition is received via a communication interface. In response to the signal, a controlled operation to reduce a speed of movement of a robotic instrumentality is performed prior to a safety stop of the robotic instrumentality being triggered.
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公开(公告)号：US11813758B2
公开(公告)日：2023-11-14
申请号：US16834115
申请日：2020-03-30
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Zhouwen Sun , Rohit Arka Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Ben Varkey Benjamin Pottayil , Samir Menon
CPC classification number: B25J9/1697 , B25J9/1612 , B25J9/1674 , B25J9/1687 , B25J9/1689 , B25J9/1692 , G06T7/12 , G06T7/13 , G06T7/55 , G06T7/70 , 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.
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公开(公告)号：US11752636B2
公开(公告)日：2023-09-12
申请号：US17132446
申请日：2020-12-23
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Kevin Jose Chavez , Samir Menon , Harry Zhe Su , Talbot Morris-Downing , Rohit Arka Pidaparthi , Ayush Sharma , Raphael Georg Wirth
CPC classification number: B25J9/1697 , B07C1/04 , B25J9/0093 , B25J9/161 , B25J9/1612 , B25J9/1653 , B25J9/1664 , B25J9/1671 , B25J9/1689 , B25J13/08 , B25J15/0616 , B65G47/905 , B65G47/917 , B65G2201/0285 , B65G2203/0216 , B65G2203/041
Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. The three dimensional view as generated at successive points in time is used to model a flow of at least a subset of said plurality of items through at least a portion of the workspace. The model is used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.
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公开(公告)号：US11745956B2
公开(公告)日：2023-09-05
申请号：US17216503
申请日：2021-03-29
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Cyril Nader , Varun Uday Nayak , Alberto Leyva Arvayo , Michael Root , Andrew Lovett , Kevin Jose Chavez
CPC classification number: B65G47/905 , B25J9/1612 , B25J9/1633 , B25J9/1661 , B25J9/1664 , B25J9/1679 , B25J9/1697 , B25J13/082 , B65G2201/0258 , B65G2203/041
Abstract: An autonomous tray handling robotic system is disclosed. In various embodiments, data indicating a set of output stacks to be assembled is stored, each output stack including an associated set of trays each of a corresponding tray type. Operation of one or more robots is controlled, each robot being configured to grasp, move, and place one or more trays at a time, according to a plan, to iteratively pick trays from source stacks of trays and assemble the set of output stacks, including by building each output stack by successively placing on the output stack trays picked from one or more corresponding source stacks. Each of the robots comprises a robotic arm and a tray handling end effector configured to grasp, move, and place one or more trays without assistance from another robot.
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Patent Agency Ranking
公开(公告)号：US20230245036A1
公开(公告)日：2023-08-03
申请号：US18100940
申请日：2023-01-24
Applicant: Dexterity, Inc.
Inventor： Jonathan Kuck , Zhouwen Sun , Jacopo Banfi , Vikram Ramanathan , William Arthur Clary , Kevin Jose Chavez
IPC: G06Q10/083
CPC classification number: G06Q10/083
Abstract: The present application discloses a method, system, and computer system for arranging a set of objects for loading to a transport container. The method includes (i) receiving an indication of the set of objects to be loaded into the transport container for transport from a source location to a destination location, (ii) determining, based at least in part on object information corresponding to the set of objects and resources available to load the set of objects, an arrangement of the set of objects loaded into the transport container that satisfies a weight distribution criteria, and (iii) providing the arrangement as an output to be used in connection with loading the set of objects to the transport container.
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公开(公告)号：US11591169B2
公开(公告)日：2023-02-28
申请号：US17211679
申请日：2021-03-24
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Yuan Gao , Rohit Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Samir Menon
Abstract: Techniques are disclosed to use a robotic arm to palletize or depalletize diverse items. In various embodiments, data associated with a plurality of items to be stacked on or in a destination location is received. A plan to stack the items on or in the destination location is generated based at least in part on the received data. The plan is implemented at least in part by controlling a robotic arm of the robot to pick up the items and stack them on or in the receptacle according to the plan, including by for each item: using one or more first order sensors to move the item to a first approximation of a destination position for that item at the destination location; and using one or more second order sensors to snug the item into a final position.
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公开(公告)号：US20220405439A1
公开(公告)日：2022-12-22
申请号：US17837787
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
IPC: G06F30/20
Abstract: A robotic system is disclosed. The system includes a memory configured to store for each of a plurality of items a set of attribute values representing one or more physical attributes of the item. The system includes one or more processors coupled to the communication interface and configured to use the attribute values as inputs to a physic engine configured to compute the stability of a simulated stack of items comprising at least a subset of the plurality of items.
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公开(公告)号：US20220088778A1
公开(公告)日：2022-03-24
申请号：US17482162
申请日：2021-09-22
Applicant: Dexterity, Inc.
Inventor： Zhouwen Sun , Samir Menon , Kevin Jose Chavez , Toby Leonard Baker , David Leo Tondreau III , Andrew Nguyen , Cuthbert Sun
Abstract: A velocity control-based robotic system is disclosed. In various embodiments, sensor data is received from one or more sensors deployed in a physical space in which a robot is located. A processor is used to determine based at least in part on the sensor data an at least partly velocity-based trajectory along which to move an element comprising the robot. A command to implement the velocity-based trajectory is sent to the robot.
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公开(公告)号：US20200316782A1
公开(公告)日：2020-10-08
申请号：US16834115
申请日：2020-03-30
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Zhouwen Sun , Rohit Arka Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Ben Varkey Benjamin Pottayil , Samir Menon
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.
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