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公开(公告)号：US20200095001A1
公开(公告)日：2020-03-26
申请号：US16224513
申请日：2018-12-18
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Robert Hegdahl , Zhouwen Sun , Kevin Jose Chavez , Talbot Morris-Downing , Cuthbert Sun
Abstract: A kitting system is disclosed. In various embodiments, the kitting system includes a conveyance structure configured to impart to an item a first net resultant force substantially in a first direction, wherein the first direction is associated with a direction of flow from a source end of the conveyance structure to a destination end opposite the source end and associated with a pick-up zone from which the item is to be retrieved; a sensor configured to provide a sensor output associated with the pick-up zone; and a processor configured to provide a control input to one or both of the conveyance structure and a disrupter device associated with the conveyance structure based at least in part on the sensor output.
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公开(公告)号：US10549928B1
公开(公告)日：2020-02-04
申请号：US16380859
申请日：2019-04-10
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：US20250010493A1
公开(公告)日：2025-01-09
申请号：US18891786
申请日：2024-09-20
Applicant: Dexterity, Inc.
Inventor： Samir Menon , Zhouwen Sun , Robert Hegdahl
IPC: B25J15/00
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.
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公开(公告)号：US20240359927A1
公开(公告)日：2024-10-31
申请号：US18659984
申请日：2024-05-09
Applicant: Dexterity, Inc.
Inventor： Joseph Li , Robert Moreno , Gil Matzliach , Cyril Nader , Samir Menon
CPC classification number: B65G47/905 , B25J9/1697
Abstract: Data associated with a plurality of items to be stacked on or in a destination location is received. The data associated with the plurality of items enables a first attribute associated with a first item of the plurality of items to be identified. 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 includes with respect to the first item a plan, determined based at least in part on the first attribute, to place the first item in a stackable container along with one or more other items and to place the stackable container, once filled, in a corresponding location on or in the destination location. The plan is implemented at least in part by controlling a robotic arm to pick up the items and stack them on or in the destination location according to the plan.
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公开(公告)号：US12090661B2
公开(公告)日：2024-09-17
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
CPC classification number: B25J9/1651 , B25J9/1612 , B25J9/1633 , B25J9/1653 , B25J9/1664 , B25J9/1671 , B25J9/1682 , B25J9/1697 , B25J13/088 , B65G47/917
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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Patent Agency Ranking
公开(公告)号：US20240158183A1
公开(公告)日：2024-05-16
申请号：US18511677
申请日：2023-11-16
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Yuan Gao , Rohit Pidaparthi , Talbot Morris-Downing , Harry Zhe Su , Samir Menon
CPC classification number: B65G47/905 , B25J9/1697
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：US20240058960A1
公开(公告)日：2024-02-22
申请号：US18233260
申请日：2023-08-11
Applicant: Dexterity, Inc.
Inventor： Avinash Verma , Robert Holmberg , Gil Matzliach , Luis Sentis , Salvador Perez , Samir Menon , Zhouwen Sun
CPC classification number: B25J9/1664 , B25J17/0283
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.
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公开(公告)号：US20240033906A1
公开(公告)日：2024-02-01
申请号：US18232697
申请日：2023-08-10
Applicant: Dexterity, Inc.
Inventor： Harry Zhe Su , Zhouwen Sun , Samir Menon
CPC classification number: B25J9/1612 , B25J9/163 , B25J9/1633 , B25J13/083 , B25J13/084
Abstract: A plurality of sensors are configured to provide a corresponding output that reflects a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of one or more sensors comprising the plurality of sensors are used to determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of the item within or from a grasp of the robotic arm end effector. A determination associated with slippage of the item within or from the grasp of the robotic arm end effector is made based at least in part on an output of the multi-modal model. A responsive action is taken based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.
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公开(公告)号：US20230405824A1
公开(公告)日：2023-12-21
申请号：US18242333
申请日：2023-09-05
Applicant: Dexterity, Inc.
Inventor： Kevin Jose Chavez , Robert Hegdahl , Yuan Gao , Andrew Lovett , Roger Lam Hau , Samir Menon
CPC classification number: B25J9/1687 , B25J15/0616 , B25J15/0683 , B25J9/1689 , B25J9/1697 , B25J11/0045 , B25J9/1612 , B25J9/1694
Abstract: Techniques are disclosed to perform robotic handling of soft products in non-rigid packaging. In various embodiments, sensor data associated with a workspace is received. An action to be performed in the workspace using one or more robotic elements is determined, the action including moving an end effector of one of the robotic elements relatively quickly to a location in proximity to an item to be grasped; actuating a grasping mechanism of the end effector to grasp the item using an amount of force and structures associated with minimized risk of damage to one or both of the item and its packaging; and using sensor data generated subsequent to the item being grasped to ensure the item has been grasped securely. Control communications are sent to the robotic element via the communication interface to cause robotic element to perform the action.
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公开(公告)号：US11772262B2
公开(公告)日：2023-10-03
申请号：US17029418
申请日：2020-09-23
Applicant: Dexterity, Inc.
Inventor： Harry Zhe Su , Zhouwen Sun , Samir Menon
CPC classification number: B25J9/1612 , B25J9/163 , B25J9/1633 , B25J13/083 , B25J13/084 , B25J13/082 , B25J13/02
Abstract: A plurality of sensors are configured to provide a corresponding output that reflects a sensed value associated with engagement of a robotic arm end effector with an item. The respective outputs of one or more sensors comprising the plurality of sensors are used to determine one or more inputs to a multi-modal model configured to provide, based at least in part on the one or more inputs, an output associated with slippage of the item within or from a grasp of the robotic arm end effector. A determination associated with slippage of the item within or from the grasp of the robotic arm end effector is made based at least in part on an output of the multi-modal model. A responsive action is taken based at least in part on the determination associated with slippage of the item within or from the grasp of the robotic arm end effector.
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